KR20210048027A - Positioning method using unmanned aerial robot and device for supporting same in unmanned aerial system - Google Patents

Abstract

Provided is a flight system for indoor positioning comprising an unmanned aerial robot, a station of the unmanned aerial robot, and a server. The unmanned aerial robot may sense a plurality of laser beams generated from the station through a first camera and/or a first sensor, perform adjustment such that a horizontal axis position of the unmanned aerial robot is located at a center position of a measurement space for the indoor positioning based on the plurality of sensed laser beams, and perform positioning on the measurement space while flying in a vertical direction. The present invention provides a method for charging a battery of the unmanned aerial robot in an unmanned aerial system.

Description

Positioning method using unmanned aerial robot and device for supporting same in unmanned aerial system in unmanned aerial system

The present invention relates to an unmanned aerial system, and more particularly, to an indoor positioning method using an unmanned aerial robot and an apparatus supporting the same.

Unmanned aerial vehicle is a generic term for an unmanned aerial vehicle (UAV, Unmanned aerial vehicle / Uninhabited aerial vehicle) that can fly and manipulate without a pilot by induction of radio waves. In addition to military uses such as reconnaissance and attack, unmanned aerial vehicles have recently been increasingly used in various private and commercial fields such as video shooting, unmanned delivery service, and disaster observation.

For example, a space in which it is difficult for people to directly position (eg, a narrow space, a measurement space for elevator installation, etc.) can be positioned using an unmanned aerial robot.

In this case, the user can control the unmanned aerial robot from the outside to locate a space where it is difficult for the user to directly position through a camera provided in the unmanned aerial robot.

An object of the present specification is to provide a method for charging a battery of an unmanned aerial robot in an unmanned aerial system.

In addition, an object of the present specification is to provide a method for positioning an indoor using an unmanned aerial robot.

In addition, an object of the present specification is to provide a method of positioning while a drone does not move in a horizontal axis and only increases/decreases an altitude in a vertical axis in order to position an indoor using an unmanned aerial robot.

In addition, an object of the present specification is to provide a method for an unmanned aerial robot to increase/decrease an altitude in a vertical axis while maintaining a horizontal axis position using a station.

In addition, an object of the present specification is to provide a method for positioning an indoor using a camera and/or a laser sensor while an unmanned aerial robot is flying vertically.

The present specification is a flight system for indoor positioning consisting of an unmanned aerial robot, a station and a server of the unmanned aerial robot, wherein the unmanned aerial robot includes a plurality of lasers generated from the station through a first camera and/or a first sensor. Detects a beam, adjusts the horizontal axis position of the unmanned aerial vehicle to be located at the center of the measurement space for indoor positioning based on the detected plurality of laser beams, and locates the measurement space while flying in a vertical direction And, the station measures the distance to each wall surface of the measurement space using a laser sensor to be located at the center position in the measurement space, moves to the center position based on the measured distance, and a horizontal sensor And adjusting the level of the station using a horizontal mechanism device, and using a plurality of laser beam generators to position the measurement space while the unmanned aerial robot performs vertical flight at the center position of the measurement space. It provides a flight system that generates a laser beam.

In addition, in the present invention, the unmanned aerial vehicle recognizes a location where the plurality of lasers are generated using the first camera, and detects the plurality of lasers using the first sensor based on the detected location. Thus, it is determined whether the unmanned aerial robot is located at the central position.

In addition, in the present invention, the unmanned aerial robot recognizes whether the unmanned aerial robot is located at the center of the measurement space by using whether the plurality of laser beams are detected through the camera and/or the sensor. .

In addition, in the present invention, when at least one of the plurality of laser beams is not detected by the camera or the sensor, the unmanned aerial robot recognizes that the unmanned aerial robot has moved from the center of the measurement space, and The position is moved so that the plurality of laser beams are detected by the camera or the sensor.

In addition, in the present invention, the unmanned aerial robot measures a distance between the unmanned aerial robot and the station using the plurality of laser beams, and the unmanned aerial robot uses the measured distances to connect the unmanned aerial robot to the station. Recognize whether it is horizontal or not.

In addition, in the present invention, when the measured distances are different from each other, the unmanned aerial robot recognizes that it is not horizontal with the station, and the vertical and/or horizontal of the unmanned aerial robot is such that the measured distances become the same. Adjust the position.

In addition, in the present invention, the unmanned aerial vehicle captures the measurement space using a second camera to obtain an image for positioning the measurement space.

In addition, in the present invention, the unmanned aerial vehicle generates a plurality of measurement beams through at least one 3D lidar sensor, and the generated measurement beam is reflected by the measurement space as the at least one 3D laser beam. It is sensed through a sensor to obtain a modeling of the measurement space, and the measurement space is positioned by using the image and the modeling together.

In addition, in the present invention, the unmanned aerial robot transmits the positioning result to the server.

In addition, in the present invention, the unmanned aerial vehicle receives route information related to a flight path for positioning the measurement space from the server.

In addition, in the present invention, the station generates at least one laser beam using the laser sensor, and the at least one laser beam senses a reflected beam reflected by each of the wall surfaces of the measurement space, Measure the distance to.

In addition, in the present invention, when the unmanned aerial robot is located within a certain distance, the station charges the battery of the unmanned aerial robot using a wireless charging module.

Further, in the present invention, the station moves to the center of the measurement space using a horizontal movement device based on the measured distance.

In addition, the present invention, the unmanned aerial vehicle, the main body; A first camera and a second camera provided in the main body; A first sensor and a second sensor for detecting a laser beam; At least one motor; At least one propeller connected to each of the at least one motor; And a processor electrically connected to the at least one motor to control the at least one motor, wherein the processor includes a plurality of laser beams generated from the station by controlling the first camera and/or the first sensor. And, based on the sensed at least one laser beam, the horizontal axis position of the unmanned aerial vehicle is adjusted to be located at the center position of the measurement space, and the at least one propeller is controlled to fly in a vertical direction while the It provides an unmanned aerial robot, characterized in that positioning the measurement space.

According to the present invention, by positioning the indoor space using an unmanned aerial robot, there is an effect that it is possible to directly locate a space where positioning is difficult.

In addition, the present invention has the effect of accurately positioning the room by using all of the measurement results using a camera and a sensor.

In addition, the present invention has an effect that the unmanned aerial robot can position according to the altitude in a narrow space by positioning the space while increasing/decreasing the altitude only on the vertical axis at a specific position.

In addition, the present invention has the effect that the position of the horizontal axis is not changed and accurate positioning is possible because the position of the horizontal axis is not changed by the unmanned aerial robot flying and positioning on a vertical axis while being fixed at a specific position using a station.

In addition, there is an effect of reducing rider mapping errors by providing absolute coordinates that can be controlled in real time to unmanned aerial vehicles flying in a narrow vertical space.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art from the following description. .

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included as part of the detailed description to aid in understanding of the present invention, provide embodiments of the present invention, and together with the detailed description, the technical features of the present invention will be described.
1 shows a perspective view of an unmanned aerial vehicle to which the method proposed in the present specification can be applied.
FIG. 2 is a block diagram showing a control relationship between main components of the unmanned aerial vehicle of FIG. 1.
3 is a block diagram showing a control relationship between main components of the air vehicle control system according to an embodiment of the present invention.
4 illustrates a block diagram of a wireless communication system to which the methods proposed in the present specification can be applied.
5 is a diagram illustrating an example of a method of transmitting/receiving a signal in a wireless communication system.
6 shows an example of a basic operation of a robot and a 5G network in a 5G communication system.
7 illustrates an example of a basic operation between robots and robots using 5G communication.
8 is a diagram illustrating an example of a conceptual diagram of a 3GPP system including UAS.
9 shows examples of a C2 communication model for UAV.
10 is a flowchart showing an example of a method of performing a measurement to which the present invention can be applied.
11 shows an example of a drone and a drone station for positioning according to an embodiment of the present invention.
12 shows an example of main components of a drone for positioning according to an embodiment of the present invention.
13 shows an example of main components of a station for vertical flight of a drone according to an embodiment of the present invention.
14 is a flow chart showing an example of a positioning method using vertical flight according to an embodiment of the present invention.
15 and 16 illustrate an example of a method for positioning a station at a center in a space in which a station is measured for vertical flight of an unmanned aerial vehicle according to an embodiment of the present invention.
17 and 18 illustrate an example of a method for performing vertical flight while maintaining a horizontal axis position by using a station in an unmanned aerial vehicle according to an embodiment of the present invention.
19 is a flowchart illustrating an example of a method for performing vertical flight while maintaining a horizontal axis position using a station by an unmanned aerial vehicle according to an embodiment of the present invention.
20 is a flowchart illustrating another example of a method for performing vertical flight while maintaining a horizontal axis position by using a station by an unmanned aerial vehicle according to an embodiment of the present invention.
21 is a diagram illustrating an example of a positioning method according to an embodiment of the present invention.
22 is a flowchart illustrating an example of a positioning method according to an embodiment of the present invention.
23 and 24 show an example of a rider of an unmanned aerial robot according to an embodiment of the present invention.
25 illustrates a block diagram of a wireless communication device according to an embodiment of the present invention.
26 illustrates a block diagram of a communication device according to an embodiment of the present invention.

Hereinafter, exemplary embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but identical or similar elements are denoted by the same reference numerals regardless of reference numerals, and redundant descriptions thereof will be omitted. The suffixes "module" and "unit" for constituent elements used in the following description are given or used interchangeably in consideration of only the ease of preparation of the specification, and do not have meanings or roles that are distinguished from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, when it is determined that a detailed description of related known technologies may obscure the subject matter of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are for easy understanding of the embodiments disclosed in the present specification, and the technical idea disclosed in the present specification is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention It should be understood to include equivalents or substitutes.

Terms including ordinal numbers such as first and second may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another component.

When a component is referred to as being "connected" or "connected" to another component, it is understood that it may be directly connected or connected to the other component, but other components may exist in the middle. It should be. On the other hand, when a component is referred to as being "directly connected" or "directly connected" to another component, it should be understood that there is no other component in the middle.

Singular expressions include plural expressions unless the context clearly indicates otherwise.

In this application, terms such as "comprises" or "have" are intended to designate the presence of features, numbers, steps, actions, components, parts, or combinations thereof described in the specification, but one or more other features. It is to be understood that the presence or addition of elements or numbers, steps, actions, components, parts, or combinations thereof does not preclude in advance.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numerals regardless of the reference numerals, and redundant descriptions thereof will be omitted.

1 shows a perspective view of an unmanned aerial vehicle according to an embodiment of the present invention.

First, the unmanned aerial vehicle 100 is manually operated by an administrator on the ground, or is automatically controlled by a set flight program while flying unmanned. Such an unmanned aerial vehicle 100 has a configuration including a body 20, a horizontal and vertical movement propulsion device 10, and a landing leg 130, as shown in FIG. 1.

The main body 20 is a body part on which a module such as the working part 40 is mounted.

The horizontal and vertical movement propulsion device 10 is composed of one or more propellers 11 installed vertically on the main body 20, and the horizontal and vertical movement propulsion device 10 according to an embodiment of the present invention is arranged spaced apart from each other. It consists of a plurality of propellers 11 and motors 12. Here, the horizontal and vertical movement propulsion device 10 may be formed of an air-injection type propeller structure other than the propeller 11.

A plurality of propeller supports are formed radially in the main body 20. Each propeller support may be equipped with a motor 12. Each motor 12 is equipped with a propeller 11.

The plurality of propellers 11 may be arranged symmetrically with respect to the center of the body 20. In addition, the rotation direction of the motor 12 may be determined so that the rotation directions of the plurality of propellers 11 are combined with a clockwise direction and a counterclockwise direction. The rotation direction of the pair of propellers 11 symmetrical with respect to the center of the body 20 may be set to be the same (eg, clockwise). In addition, the other pair of propellers 11 may have opposite rotation directions (eg, counterclockwise direction).

Landing legs 30 are disposed spaced apart from each other on the bottom surface of the body 20. In addition, a buffer support member (not shown) for minimizing the impact caused by collision with the ground when the unmanned aerial vehicle 100 lands may be mounted under the landing leg 30. Of course, the unmanned aerial vehicle 100 may be formed in various structures of a vehicle configuration different from that described above.

FIG. 2 is a block diagram showing a control relationship between main components of the unmanned aerial vehicle of FIG. 1.

2, the unmanned aerial vehicle 100 measures its own flight state using various sensors in order to stably fly. The unmanned aerial vehicle 100 may include a sensing unit 130 including at least one sensor.

The flight state of the unmanned aerial vehicle 100 is defined as a rotational state and a translational state.

The state of rotational motion means'Yaw','Pitch', and'Roll', and the state of translational motion means longitude, latitude, altitude, and speed.

Here,'Roll','Pitch', and'Yo' are called Euler angles, and the three axes of the aircraft's coordinates x, y, and z are some specific coordinates, for example, NED coordinates N, E, and D. It represents the angle rotated about the axis. When the front of the plane rotates left and right based on the z-axis of the aircraft's coordinates, the x-axis of the aircraft's coordinates has an angular difference with respect to the N-axis of the NED coordinates, and this angle is called "Yo" (Ψ). When the front of the plane rotates up and down based on the y-axis directed to the right, the z-axis of the aircraft coordinates has an angle difference with respect to the D-axis of the NED coordinates, and this angle is called "pitch" (θ). When the fuselage of an airplane is tilted left and right based on the x-axis facing the front, the y-axis of the aircraft coordinate is made with an angle with respect to the E-axis of the NED coordinate, and this angle is called "roll" (Φ).

The unmanned aerial vehicle 100 uses 3-axis gyro sensors, 3-axis acceleration sensors, and 3-axis geomagnetic sensors (Magnetometers) to measure the state of rotational motion, and a GPS sensor to measure the state of translational motion. And a Barometric Pressure Sensor.

The sensing unit 130 of the present invention includes at least one of a gyro sensor, an acceleration sensor, a GPS sensor, an image sensor, and an atmospheric pressure sensor. Here, the gyro sensor and the acceleration sensor measure the rotated and accelerated state of the body frame coordinate of the unmanned aerial vehicle 100 with respect to the Earth Centered Inertial Coordinate, MEMS (Micro-Electro- Mechanical Systems) It can also be manufactured as a single chip called an inertial measurement unit (IMU) using semiconductor process technology.

In addition, inside the IMU chip, there is a microcontroller that converts measurements based on the global inertia coordinates measured by the gyro sensor and the acceleration sensor into local coordinates, for example, NED (North-East-Down) coordinates used by GPS. Can be included.

The gyro sensor measures the angular velocity at which the three axes x, y, and z of the unmanned aerial vehicle 100 rotate with respect to the earth inertia coordinates, and then converted into fixed coordinates (Wx.gyro, Wy.gyro, Wz.gyro). And convert this value into Euler angles (Φgyro, θgyro, ψgyro) using a linear differential equation.

The acceleration sensor measures the acceleration of the unmanned aerial vehicle 100 for the earth inertia coordinates of the three axes x, y, and z, and then calculates the converted values (fx,acc, fy,acc, fz,acc) into fixed coordinates. , This value is converted into'Roll (Φacc)' and'Pitch (θacc)', and these values are the bias errors included in'Roll (Φgyro)' and'Pitch (θgyro)' calculated using the measured value of the gyro sensor. Is used to remove.

The geomagnetic sensor measures the direction of the magnetic north point of the three axes x, y, and z of the aircraft coordinate of the unmanned aerial vehicle 100, and calculates a “Yo” value for the NED coordinate of the aircraft coordinate using this value.

The GPS sensor uses signals received from GPS satellites to translate the unmanned aerial vehicle 100 on the NED coordinates, that is, latitude (Pn.GPS), longitude (Pe.GPS), altitude (hMSL.GPS), and latitude. Calculate speed (Vn.GPS), speed on longitude (Ve.GPS), and speed on altitude (Vd.GPS). Here, the subscript MSL means the mean sea level (MSL).

The barometric pressure sensor may measure the altitude (hALP.baro) of the unmanned aerial vehicle 100. Here, the subscript ALP means air pressure (Air-Level Pressor), and the air pressure sensor calculates the current altitude from the take-off point by comparing the air pressure at the take-off of the unmanned aerial vehicle 100 with the air pressure at the current flight altitude.

The camera sensor includes an image sensor (eg, a CMOS image sensor) comprising at least one optical lens and a plurality of photodiodes (eg, pixels), which are imaged by light passing through the optical lens, A digital signal processor (DSP) that composes an image based on signals output from photodiodes may be included. The digital signal processor is capable of generating not only still images but also moving images composed of frames composed of still images.

The unmanned aerial vehicle 100 includes a communication module 170 that receives or receives information and outputs or transmits information. The communication module 170 may include a drone communication unit 175 that transmits and receives information to and from other external devices. The communication module 170 may include an input unit 171 for inputting information. The communication module 170 may include an output unit 173 that outputs information.

Of course, the output unit 173 may be omitted in the unmanned aerial vehicle 100 and formed in the terminal 300.

For example, the unmanned aerial vehicle 100 may directly receive information from the input unit 171. As another example, the unmanned aerial vehicle 100 may receive information input to a separate terminal 300 or server 200 through the drone communication unit 175.

For example, the unmanned aerial vehicle 100 may directly output information to the output unit 173. As another example, the unmanned aerial vehicle 100 may transmit information to a separate terminal 300 through the drone communication unit 175 so that the terminal 300 outputs the information.

The drone communication unit 175 may be provided to communicate with an external server 200, a terminal 300, and the like. The drone communication unit 175 may receive information input from a terminal 300 such as a smartphone or a computer. The drone communication unit 175 may transmit information to be output to the terminal 300. The terminal 300 may output information received from the drone communication unit 175.

The drone communication unit 175 may receive various command signals from the terminal 300 or/and the server 200. The drone communication unit 175 may receive area information for driving, a driving route, and a driving command from the terminal 300 or/and the server 200. Here, the area information may include flight restriction area (A) information and access restriction distance information.

The input unit 171 may receive On/Off or various commands. The input unit 171 may receive area information. The input unit 171 may receive product information. The input unit 171 may include various buttons, a touch pad, or a microphone.

The output unit 173 may notify a user of various types of information. The output unit 173 may include a speaker and/or a display. The output unit 173 may output information of a discovery object detected while driving. The output unit 173 may output identification information of a discovery. The output unit 173 may output location information of the discovery.

The unmanned aerial vehicle 100 includes a controller 140 that processes and determines various types of information, such as mapping and/or recognizing a current location. The controller 140 may control the overall operation of the unmanned aerial vehicle 100 through control of various components constituting the unmanned aerial vehicle 100.

The controller 140 may receive and process information from the communication module 170. The control unit 140 may receive and process information from the input unit 171. The controller 140 may receive and process information from the drone communication unit 175.

The controller 140 may receive and process sensing information from the sensing unit 130.

The controller 140 may control driving of the motor 12. The control unit 140 may control the operation of the work unit 40.

The unmanned aerial vehicle 100 includes a storage unit 150 for storing various data. The storage unit 150 records various types of information necessary for control of the unmanned aerial vehicle 100 and may include a volatile or nonvolatile recording medium.

The storage unit 150 may store a map for a driving area. The map may be input by an external terminal 300 capable of exchanging information through the unmanned aerial vehicle 100 and the drone communication unit 175, or the unmanned aerial vehicle 100 may be generated by self-learning. In the former case, examples of the external terminal 300 include a remote control, a PDA, a laptop, a smart phone, and a tablet equipped with an application for setting a map.

3 is a block diagram showing a control relationship between main components of the air vehicle control system according to an embodiment of the present invention.

3, the air control system according to an embodiment of the present invention may include an unmanned aerial vehicle 100 and a server 200, or include an unmanned aerial vehicle 100, a terminal 300, and a server 200. I can. The unmanned aerial vehicle 100, the terminal 300, and the server 200 are connected to each other through a wireless communication method.

Wireless communication methods include Global System for Mobile communication (GSM), Code Division Multi Access (CDMA), Code Division Multi Access 2000 (CDMA2000), Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), and Wideband (WCDMA). CDMA), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), and the like may be used.

The wireless communication method may use wireless Internet technology. Examples of wireless Internet technologies include WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Wi-Fi (Wireless Fidelity) Direct, DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), High Speed Downlink Packet Access (HSDPA), High Speed Uplink Packet Access (HSUPA), Long Term Evolution (LTE), Long Term Evolution-Advanced (LTE-A), and 5G. In particular, faster response is possible by transmitting and receiving data using a 5G communication network.

In the present specification, a base station has a meaning as a terminal node of a network that directly communicates with a terminal. A specific operation described as being performed by the base station in this specification may be performed by an upper node of the base station in some cases. That is, it is apparent that various operations performed for communication with a terminal in a network comprising a plurality of network nodes including a base station may be performed by the base station or network nodes other than the base station. A'base station (BS)' is a fixed station, Node B, evolved-NodeB (eNB), base transceiver system (BTS), an access point (AP), and next generation NodeB (gNB). Can be replaced by terms. In addition,'Terminal' may be fixed or mobile, and UE (User Equipment), MS (Mobile Station), UT (user terminal), MSS (Mobile Subscriber Station), SS (Subscriber Station), AMS ( Advanced Mobile Station), Wireless terminal (WT), Machine-Type Communication (MTC) device, Machine-to-Machine (M2M) device, Device-to-Device (D2D) device.

Hereinafter, downlink (DL) means communication from a base station to a terminal, and uplink (UL) means communication from a terminal to a base station. In downlink, the transmitter may be part of the base station, and the receiver may be part of the terminal. In the uplink, the transmitter may be a part of the terminal, and the receiver may be a part of the base station.

Specific terms used in the following description are provided to aid understanding of the present invention, and the use of these specific terms may be changed in other forms without departing from the technical spirit of the present invention.

Embodiments of the present invention may be supported by standard documents disclosed in at least one of IEEE 802, 3GPP, and 3GPP2 wireless access systems. That is, among the embodiments of the present invention, steps or parts not described in order to clearly reveal the technical idea of the present invention may be supported by the above documents. In addition, all terms disclosed in this document can be described by the standard document.

For clarity, 3GPP 5G is mainly described, but the technical features of the present invention are not limited thereto.

Example UE and 5G network block diagram

4 illustrates a block diagram of a wireless communication system to which the methods proposed in the present specification can be applied.

Referring to FIG. 4, a drone is defined as a first communication device (910 in FIG. 4 ), and a processor 911 may perform detailed operations of the drone.

Drones can also be represented as unmanned aerial vehicles, unmanned aerial robots, etc.

The 5G network communicating with the drone is defined as a second communication device (920 in FIG. 4), and the processor 921 may perform detailed operations of the drone. Here, the 5G network may include other drones that communicate with drones.

The 5G network may be referred to as a first communication device and a drone may be referred to as a second communication device.

For example, the first communication device or the second communication device may be a base station, a network node, a transmission terminal, a reception terminal, a wireless device, a wireless communication device, a drone, or the like.

For example, a terminal or user equipment (UE) is a drone, an unmanned aerial vehicle (UAV), a mobile phone, a smart phone, a laptop computer, a terminal for digital broadcasting, and personal digital assistants (PDAs). , PMP (portable multimedia player), navigation, slate PC, tablet PC, ultrabook, wearable device, e.g., smartwatch, glass terminal (smart glass), HMD (head mounted display)), etc. may be included. For example, the HMD may be a display device worn on the head. For example, HMD can be used to implement VR, AR or MR. Referring to FIG. 4, the first communication device 910 and the second communication device 920 include a processor (processor, 911,921), a memory (memory, 914,924), one or more Tx/Rx RF modules (radio frequency modules, 915,925). , Tx processors 912 and 922, Rx processors 913 and 923, and antennas 916 and 926. The Tx/Rx module is also called a transceiver. Each Tx/Rx module 915 transmits a signal through a respective antenna 926. The processor implements the previously salpin functions, processes and/or methods. The processor 921 may be associated with a memory 924 that stores program code and data. The memory may be referred to as a computer-readable medium. More specifically, in the DL (communication from the first communication device to the second communication device), the transmission (TX) processor 912 implements various signal processing functions for the L1 layer (ie, the physical layer). The receive (RX) processor implements the various signal processing functions of L1 (ie, the physical layer).

The UL (communication from the second communication device to the first communication device) is handled in the first communication device 910 in a manner similar to that described with respect to the receiver function in the second communication device 920. Each Tx/Rx module 925 receives a signal through a respective antenna 926. Each Tx/Rx module provides an RF carrier and information to the RX processor 923. The processor 921 may be associated with a memory 924 that stores program code and data. The memory may be referred to as a computer-readable medium.

Signal transmission/reception method in wireless communication system

5 is a diagram showing an example of a signal transmission/reception method in a wireless communication system.

Referring to FIG. 5, when the UE is powered on or newly enters a cell, the UE performs an initial cell search operation such as synchronizing with the BS (S201). To this end, the UE receives a primary synchronization channel (P-SCH) and a secondary synchronization channel (S-SCH) from the BS, synchronizes with the BS, and obtains information such as cell ID. can do. In the LTE system and the NR system, the P-SCH and S-SCH are referred to as a primary synchronization signal (PSS) and a secondary synchronization signal (SSS), respectively. After initial cell discovery, the UE may obtain intra-cell broadcast information by receiving a physical broadcast channel (PBCH) from the BS. Meanwhile, the UE may check a downlink channel state by receiving a downlink reference signal (DL RS) in the initial cell search step. Upon completion of the initial cell search, the UE acquires more detailed system information by receiving a physical downlink control channel (PDCCH) and a physical downlink shared channel (PDSCH) according to the information carried on the PDCCH. It can be done (S202).

Meanwhile, when accessing the BS for the first time or when there is no radio resource for signal transmission, the UE may perform a random access procedure (RACH) for the BS (steps S203 to S206). To this end, the UE transmits a specific sequence as a preamble through a physical random access channel (PRACH) (S203 and S205), and a random access response to the preamble through a PDCCH and a corresponding PDSCH. RAR) message can be received (S204 and S206). In the case of contention-based RACH, a contention resolution procedure may be additionally performed.

After performing the above-described process, the UE receives PDCCH/PDSCH (S207) and physical uplink shared channel (PUSCH)/physical uplink control channel as a general uplink/downlink signal transmission process. Uplink control channel, PUCCH) transmission (S208) may be performed. In particular, the UE receives downlink control information (DCI) through the PDCCH. The UE monitors the set of PDCCH candidates from monitoring opportunities set in one or more control element sets (CORESET) on the serving cell according to the corresponding search space configurations. The set of PDCCH candidates to be monitored by the UE is defined in terms of search space sets, and the search space set may be a common search space set or a UE-specific search space set. CORESET consists of a set of (physical) resource blocks with a time duration of 1 to 3 OFDM symbols. The network can configure the UE to have multiple CORESETs. The UE monitors PDCCH candidates in one or more search space sets. Here, monitoring means attempting to decode PDCCH candidate(s) in the search space. If the UE succeeds in decoding one of the PDCCH candidates in the discovery space, the UE determines that the PDCCH is detected in the corresponding PDCCH candidate, and performs PDSCH reception or PUSCH transmission based on the detected DCI in the PDCCH. The PDCCH can be used to schedule DL transmissions on the PDSCH and UL transmissions on the PUSCH. Here, the DCI on the PDCCH is a downlink assignment (ie, downlink grant; DL grant) including at least information on modulation and coding format and resource allocation related to a downlink shared channel, or uplink It includes an uplink grant (UL grant) including modulation and coding format and resource allocation information related to the shared channel.

Referring to FIG. 5, an initial access (IA) procedure in a 5G communication system will be additionally described.

The UE may perform cell search, system information acquisition, beam alignment for initial access, and DL measurement based on the SSB. SSB is used interchangeably with a Synchronization Signal/Physical Broadcast Channel (SS/PBCH) block.

SSB consists of PSS, SSS and PBCH. The SSB is composed of four consecutive OFDM symbols, and PSS, PBCH, SSS/PBCH or PBCH are transmitted for each OFDM symbol. The PSS and SSS are each composed of 1 OFDM symbol and 127 subcarriers, and the PBCH is composed of 3 OFDM symbols and 576 subcarriers.

Cell discovery refers to a process in which the UE acquires time/frequency synchronization of a cell and detects a cell identifier (eg, Physical layer Cell ID, PCI) of the cell. PSS is used to detect a cell ID within a cell ID group, and SSS is used to detect a cell ID group. PBCH is used for SSB (time) index detection and half-frame detection.

There are 336 cell ID groups, and 3 cell IDs exist for each cell ID group. There are a total of 1008 cell IDs. Information on the cell ID group to which the cell ID of the cell belongs is provided/obtained through the SSS of the cell, and information on the cell ID among 336 cells in the cell ID is provided/obtained through the PSS.

SSB is transmitted periodically according to the SSB period. The SSB basic period assumed by the UE during initial cell search is defined as 20 ms. After cell access, the SSB period may be set to one of {5ms, 10ms, 20ms, 40ms, 80ms, 160ms} by the network (eg, BS).

Next, it looks at obtaining system information (SI).

SI is divided into a master information block (MIB) and a plurality of system information blocks (SIB). SI other than MIB may be referred to as RMSI (Remaining Minimum System Information). The MIB includes information/parameters for monitoring the PDCCH that schedules the PDSCH carrying System Information Block1 (SIB1), and is transmitted by the BS through the PBCH of the SSB. SIB1 includes information related to availability and scheduling (eg, transmission period, SI-window size) of the remaining SIBs (hereinafter, SIBx, x is an integer greater than or equal to 2). SIBx is included in the SI message and is transmitted through the PDSCH. Each SI message is transmitted within a periodic time window (ie, SI-window).

Referring to FIG. 5, a random access (RA) process in a 5G communication system will be additionally described.

The random access process is used for various purposes. For example, the random access procedure may be used for initial network access, handover, and UE-triggered UL data transmission. The UE may acquire UL synchronization and UL transmission resources through a random access process. The random access process is divided into a contention-based random access process and a contention free random access process. The detailed procedure for the contention-based random access process is as follows.

The UE may transmit the random access preamble as Msg1 of the random access procedure in the UL through the PRACH. Random access preamble sequences having two different lengths are supported. The long sequence length 839 is applied for subcarrier spacing of 1.25 and 5 kHz, and the short sequence length 139 is applied for subcarrier spacing of 15, 30, 60 and 120 kHz.

When the BS receives the random access preamble from the UE, the BS transmits a random access response (RAR) message (Msg2) to the UE. The PDCCH for scheduling the PDSCH carrying RAR is transmitted after being CRC masked with a random access (RA) radio network temporary identifier (RNTI) (RA-RNTI). A UE that detects a PDCCH masked with RA-RNTI may receive an RAR from a PDSCH scheduled by a DCI carried by the PDCCH. The UE checks whether the preamble transmitted by the UE, that is, random access response information for Msg1, is in the RAR. Whether there is random access information for Msg1 transmitted by the UE may be determined based on whether there is a random access preamble ID for the preamble transmitted by the UE. If there is no response to Msg1, the UE may retransmit the RACH preamble within a predetermined number of times while performing power ramping. The UE calculates the PRACH transmission power for retransmission of the preamble based on the most recent path loss and power ramping counter.

The UE may transmit UL transmission as Msg3 in a random access procedure on an uplink shared channel based on random access response information. Msg3 may include an RRC connection request and a UE identifier. In response to Msg3, the network may send Msg4, which may be treated as a contention resolution message on the DL. By receiving Msg4, the UE can enter the RRC connected state.

Beam Management (BM) procedure of 5G communication system

The BM process may be divided into (1) a DL BM process using SSB or CSI-RS and (2) a UL BM process using a sounding reference signal (SRS). In addition, each BM process may include Tx beam sweeping to determine the Tx beam and Rx beam sweeping to determine the Rx beam.

Let's look at the DL BM process using SSB.

Configuration for beam report using SSB is performed when channel state information (CSI)/beam is configured in RRC_CONNECTED.

-The UE receives a CSI-ResourceConfig IE including CSI-SSB-ResourceSetList for SSB resources used for BM from BS. The RRC parameter csi-SSB-ResourceSetList represents a list of SSB resources used for beam management and reporting in one resource set. Here, the SSB resource set may be set to {SSBx1, SSBx2, SSBx3, SSBx4, ??}. The SSB index may be defined from 0 to 63.

-The UE receives signals on SSB resources from the BS based on the CSI-SSB-ResourceSetList.

-When the CSI-RS reportConfig related to reporting on SSBRI and reference signal received power (RSRP) is configured, the UE reports the best SSBRI and RSRP corresponding thereto to the BS. For example, when the reportQuantity of the CSI-RS reportConfig IE is set to'ssb-Index-RSRP', the UE reports the best SSBRI and corresponding RSRP to the BS.

When the UE is configured with CSI-RS resources in the same OFDM symbol(s) as the SSB and'QCL-TypeD' is applicable, the UE is similarly co-located in terms of'QCL-TypeD' where the CSI-RS and SSB quasi co-located, QCL). Here, QCL-TypeD may mean that QCL is performed between antenna ports in terms of a spatial Rx parameter. When the UE receives signals from a plurality of DL antenna ports in a QCL-TypeD relationship, the same reception beam may be applied.

Next, a DL BM process using CSI-RS will be described.

The Rx beam determination (or refinement) process of the UE using CSI-RS and the Tx beam sweeping process of the BS are sequentially described. In the UE's Rx beam determination process, the repetition parameter is set to'ON', and in the BS's Tx beam sweeping process, the repetition parameter is set to'OFF'.

First, a process of determining the Rx beam of the UE is described.

-The UE receives the NZP CSI-RS resource set IE including the RRC parameter for'repetition' from the BS through RRC signaling. Here, the RRC parameter'repetition' is set to'ON'.

-The UE repeats signals on the resource(s) in the CSI-RS resource set in which the RRC parameter'repetition' is set to'ON' in different OFDM symbols through the same Tx beam (or DL spatial domain transmission filter) of the BS Receive.

-The UE determines its own Rx beam.

-The UE omits CSI reporting. That is, the UE may omit CSI reporting when the shopping price RRC parameter'repetition' is set to'ON'.

Next, a process of determining the Tx beam of the BS will be described.

-The UE receives the NZP CSI-RS resource set IE including the RRC parameter for'repetition' from the BS through RRC signaling. Here, the RRC parameter'repetition' is set to'OFF', and is related to the Tx beam sweeping process of the BS.

-The UE receives signals on resources in the CSI-RS resource set in which the RRC parameter'repetition' is set to'OFF' through different Tx beams (DL spatial domain transmission filters) of the BS.

-The UE selects (or determines) the best beam.

-The UE reports the ID (eg, CRI) and related quality information (eg, RSRP) for the selected beam to the BS. That is, when the CSI-RS is transmitted for the BM, the UE reports the CRI and the RSRP for it to the BS.

Next, a UL BM process using SRS will be described.

-The UE receives RRC signaling (eg, SRS-Config IE) including a usage parameter set to'beam management' (RRC parameter) from the BS. SRS-Config IE is used for SRS transmission configuration. The SRS-Config IE includes a list of SRS-Resources and a list of SRS-ResourceSets. Each SRS resource set means a set of SRS-resources.

-The UE determines Tx beamforming for the SRS resource to be transmitted based on the SRS-SpatialRelation Info included in the SRS-Config IE. Here, the SRS-SpatialRelation Info is set for each SRS resource, and indicates whether to apply the same beamforming as the beamforming used in SSB, CSI-RS or SRS for each SRS resource.

-If SRS-SpatialRelationInfo is set in the SRS resource, the same beamforming as the beamforming used in SSB, CSI-RS or SRS is applied and transmitted. However, if SRS-SpatialRelationInfo is not set in the SRS resource, the UE randomly determines Tx beamforming and transmits the SRS through the determined Tx beamforming.

Next, a beam failure recovery (BFR) process will be described.

In a beamformed system, Radio Link Failure (RLF) may frequently occur due to rotation, movement, or beamforming blockage of the UE. Therefore, BFR is supported in NR to prevent frequent RLF from occurring. BFR is similar to the radio link failure recovery process, and may be supported when the UE knows the new candidate beam(s). For beam failure detection, the BS sets beam failure detection reference signals to the UE, and the UE sets the number of beam failure indications from the physical layer of the UE within a period set by RRC signaling of the BS. When a threshold set by RRC signaling is reached, a beam failure is declared. After the beam failure is detected, the UE triggers beam failure recovery by initiating a random access procedure on the PCell; Beam failure recovery is performed by selecting a suitable beam (if the BS has provided dedicated random access resources for certain beams, these are prioritized by the UE). Upon completion of the random access procedure, it is considered that beam failure recovery is complete.

URLLC (Ultra-Reliable and Low Latency Communication)

URLLC transmission as defined by NR is (1) relatively low traffic size, (2) relatively low arrival rate, (3) extremely low latency requirement (e.g. 0.5, 1ms), (4) It may mean a relatively short transmission duration (eg, 2 OFDM symbols), and (5) transmission of an urgent service/message. In the case of UL, transmission for a specific type of traffic (e.g., URLLC) must be multiplexed with other transmissions (e.g., eMBB) previously scheduled in order to satisfy a more stringent latency requirement. Needs to be. In this regard, as one method, information that a specific resource will be preempted is given to the previously scheduled UE, and the URLLC UE uses the corresponding resource for UL transmission.

In the case of NR, dynamic resource sharing between eMBB and URLLC is supported. eMBB and URLLC services can be scheduled on non-overlapping time/frequency resources, and URLLC transmission can occur on resources scheduled for ongoing eMBB traffic. The eMBB UE may not be able to know whether the PDSCH transmission of the corresponding UE is partially punctured, and the UE may not be able to decode the PDSCH due to corrupted coded bits. In consideration of this point, the NR provides a preemption indication. The preemption indication may be referred to as an interrupted transmission indication.

Regarding the preemption indication, the UE receives the DownlinkPreemption IE through RRC signaling from the BS. When the UE is provided with the DownlinkPreemption IE, the UE is configured with the INT-RNTI provided by the parameter int-RNTI in the DownlinkPreemption IE for monitoring of the PDCCH carrying DCI format 2_1. The UE is additionally configured with a set of serving cells by INT-ConfigurationPerServing Cell including a set of serving cell indexes provided by servingCellID and a corresponding set of positions for fields in DCI format 2_1 by positionInDCI, and dci-PayloadSize It is set with the information payload size for DCI format 2_1 by and is set with the indication granularity of time-frequency resources by timeFrequencySect.

The UE receives DCI format 2_1 from the BS based on the DownlinkPreemption IE.

When the UE detects the DCI format 2_1 for the serving cell in the set set of serving cells, the UE is the DCI format among the set of PRBs and symbols of the monitoring period immediately preceding the monitoring period to which the DCI format 2_1 belongs. It may be assumed that there is no transmission to the UE in the PRBs and symbols indicated by 2_1. For example, the UE considers that the signal in the time-frequency resource indicated by the preemption is not a DL transmission scheduled to it, and decodes data based on the signals received in the remaining resource regions.

mMTC (massive MTC)

Massive Machine Type Communication (mMTC) is one of 5G scenarios to support hyper-connection services that communicate with a large number of UEs at the same time. In this environment, the UE communicates intermittently with a very low transmission rate and mobility. Therefore, mMTC aims at how long the UE can be driven at a low cost for a long time. Regarding mMTC technology, 3GPP deals with MTC and NB (NarrowBand)-IoT.

The mMTC technology has features such as repetitive transmission of PDCCH, PUCCH, physical downlink shared channel (PDSCH), PUSCH, and the like, frequency hopping, retuning, and guard period.

That is, a PUSCH (or PUCCH (especially, long PUCCH) or PRACH) including specific information and a PDSCH (or PDCCH) including a response to specific information are repeatedly transmitted. Repetitive transmission is performed through frequency hopping, and for repetitive transmission, (RF) retuning is performed in a guard period from a first frequency resource to a second frequency resource, and specific information And a response to specific information may be transmitted/received through a narrowband (ex. 6 resource block (RB) or 1 RB).

Robot basic operation using 5G communication

6 shows an example of a basic operation of a robot and a 5G network in a 5G communication system.

The robot transmits specific information transmission to the 5G network (S1). In addition, the 5G network may determine whether to remotely control the robot (S2). Here, the 5G network may include a server or module that performs robot-related remote control.

In addition, the 5G network may transmit information (or signals) related to remote control of the robot to the robot (S3).

Application motion between robot and 5G network in 5G communication system

Hereinafter, a robot operation using 5G communication will be described in more detail with reference to Salpin wireless communication technologies (BM procedure, URLLC, Mmtc, etc.) prior to FIGS. 1 to 6.

First, a basic procedure of an application operation to which the eMBB technology of 5G communication is applied and the method proposed by the present invention to be described later will be described.

As in steps S1 and S3 of FIG. 3, in order for the robot to transmit/receive 5G network and signals, information, etc., the robot has an initial access procedure and random access with the 5G network prior to step S1 of FIG. 3. random access) procedure.

More specifically, the robot performs an initial access procedure with the 5G network based on the SSB to obtain DL synchronization and system information. In the initial access procedure, a beam management (BM) process and a beam failure recovery process may be added, and a QCL (quasi-co location) relationship in the process of the robot receiving a signal from the 5G network. Can be added.

In addition, the robot performs a random access procedure with the 5G network for UL synchronization acquisition and/or UL transmission. In addition, the 5G network may transmit a UL grant for scheduling transmission of specific information to the robot. Therefore, the robot transmits specific information to the 5G network based on the UL grant. In addition, the 5G network transmits a DL grant for scheduling transmission of the 5G processing result for the specific information to the robot. Accordingly, the 5G network may transmit information (or signals) related to remote control to the robot based on the DL grant.

Next, a basic procedure of an application operation to which the URLLC technology of 5G communication is applied and the method proposed by the present invention to be described later will be described.

As described above, after the robot performs an initial access procedure and/or a random access procedure with the 5G network, the robot may receive a DownlinkPreemption IE from the 5G network. In addition, the robot receives DCI format 2_1 including a pre-emption indication from the 5G network based on the DownlinkPreemption IE. In addition, the robot does not perform (or expect or assume) the reception of eMBB data in the resource (PRB and/or OFDM symbol) indicated by the pre-emption indication. Thereafter, the robot may receive a UL grant from the 5G network when it is necessary to transmit specific information.

Next, the method proposed by the present invention to be described later and the basic procedure of the application operation to which the mMTC technology of 5G communication is applied will be described.

Among the steps of FIG. 6, the description will be made mainly on the parts that are changed by the application of the mMTC technology.

In step S1 of FIG. 6, the robot receives a UL grant from the 5G network to transmit specific information to the 5G network. Here, the UL grant includes information on the number of repetitions for transmission of the specific information, and the specific information may be repeatedly transmitted based on the information on the number of repetitions. That is, the robot transmits specific information to the 5G network based on the UL grant. Further, repetitive transmission of specific information may be performed through frequency hopping, transmission of first specific information may be transmitted in a first frequency resource, and transmission of second specific information may be transmitted in a second frequency resource. The specific information may be transmitted through a narrowband of 6RB (Resource Block) or 1RB (Resource Block).

Robot-to-robot motion using 5G communication

7 illustrates an example of a basic operation between robots and robots using 5G communication.

The first robot transmits specific information to the second robot (S61). The second robot transmits a response to the specific information to the first robot (S62).

On the other hand, depending on whether the 5G network directly (side link communication transmission mode 3) or indirectly (sidelink communication transmission mode 4) is involved in the resource allocation of the specific information and the response to the specific information, the robot-to-robot application operation is The composition may vary.

Next, we will look at the robot-to-robot application motion using 5G communication.

First, a method in which a 5G network is directly involved in resource allocation for signal transmission/reception between robots and robots will be described.

The 5G network may transmit DCI format 5A to the first robot for scheduling mode 3 transmission (PSCCH and/or PSSCH transmission). Here, a physical sidelink control channel (PSCCH) is a 5G physical channel for scheduling specific information transmission, and a physical sidelink shared channel (PSSCH) is a 5G physical channel for transmitting specific information. Then, the first robot transmits SCI format 1 for scheduling specific information transmission to the second robot on the PSCCH. Then, the first robot transmits specific information to the second robot on the PSSCH.

Next, we will look at how the 5G network indirectly participates in resource allocation for signal transmission/reception.

The first robot senses resources for mode 4 transmission in the first window. Then, the first robot selects a resource for mode 4 transmission in the second window based on the sensing result. Here, the first window means a sensing window, and the second window means a selection window. The first robot transmits SCI format 1 for scheduling specific information transmission to the second robot on the PSCCH based on the selected resource. Then, the first robot transmits specific information to the second robot on the PSSCH.

The structural features of the Salpin drone, 5G communication technology, etc., may be applied in combination with the methods proposed in the present invention to be described later, or may be supplemented to specify or clarify the technical characteristics of the methods proposed in the present invention.

Drone

Unmanned Aerial System: Combination of UAV and UAV controller

Unmanned Aerial Vehicle: As an aircraft without remotely controlled human pilots, it can be expressed as an unmanned aerial robot, a drone, or simply a robot.

UAV controller: A device used to remotely control a UAV

ATC: Air Traffic Control

NLOS: Non-line-of-sight

UAS: Unmanned Aerial System

UAV: Unmanned Aerial Vehicle

UCAS: Unmanned Aerial Vehicle Collision Avoidance System

UTM: Unmanned Aerial Vehicle Traffic Management

C2: Command and Control

8 is a diagram illustrating an example of a conceptual diagram of a 3GPP system including UAS.

Unmanned Aerial Systems (UAS) is a combination of an Unmanned Aerial Vehicle (UAV), sometimes called a drone, and a UAV controller. UAVs are aircraft that do not have manpower controls. Instead, the UAV is controlled from an operator on the ground through a UAV controller and can have autonomous flight capabilities. The communication system between UAV and UAV controller is provided by the 3GPP system. UAVs range in size and weight from small, lightweight aircraft that are often used for recreational purposes to large, heavy aircraft that may be more suitable for commercial use. Regulatory requirements depend on this scope and vary by region.

The communication requirements for UAS include command and control (C2) between the UAV and the UAV controller, as well as data uplink and downlink (C2) to/from UAS components for both the serving 3GPP network and network servers. downlink). UTM (Unmanned Aerial System Traffic Management) is used to provide UAS identification, tracking, authorization, enhancement and definition of UAS operations, and to store the data required for UAS for operation. In addition, UTM allows authenticated users (e.g. air traffic control, public safety agency) to query ID (identity), UAV metadata, and UAV controller. .

The 3GPP system allows UTMs to connect UAVs and UAV controllers so that UAVs and UAV controllers can be identified as UAS. The 3GPP system allows UAS to transmit UAV data that may include the following control information to the UTM.

Control information: Unique Identity (this could be a 3GPP identity), UAV's UE capability, make and model, serial number, take-off weight, location, owner identity, owner address, owner contact details Information, owner certification, take-off location, mission type, route data, operating status.

The 3GPP system allows UAS to transmit UAV controller data to UTM. The UAV controller data is unique ID (can be 3GPP ID), UAV controller's UE function, location, owner ID, owner address, owner contact details, owner authentication, UAV operator identity verification, UAV operator license, UAV operator authentication , UAV pilot identity, UAV pilot license, UAV pilot authentication and flight planning, and the like.

The functions of the 3GPP system related to UAS can be summarized as follows.

-The 3GPP system allows UAS to transmit different UAS data to UTM based on different authentication and authority levels applied to the UAS.

-The 3GPP system supports the function of expanding UAS data transmitted to UTM with the evolution of UTM and supporting applications in the future.

-Based on regulation and security protection, the 3GPP system uses UAS to UTM with an identifier such as IMEI (International Mobile Equipment Identity), MSISDN (Mobile Station International Subscriber Directory Number) or IMSI (International Mobile Subscriber Identity) or IP address. (identifier) can be transmitted.

-The 3GPP system allows the UE of UAS to transmit an identifier such as IMEI, MSISDN or IMSI or IP address to the UTM.

-In the 3GPP system, the mobile network operator (MNO) complements the data transmitted to the UTM along with the network-based location information of the UAV and UAV controller.

-The 3GPP system allows the UTM to inform the MNO of the result of the authorization to operate.

-The 3GPP system allows the MNO to allow UAS authentication requests only when appropriate subscription information exists.

-The 3GPP system provides UAS ID(s) to UTM.

-3GPP system allows UAS to update UTM with live location information of UAV and UAV controller.

-The 3GPP system provides the UAV and the supplement location information of the UAV controller to the UTM.

-The 3GPP system supports UAVs, and the corresponding UAV controller is connected to other PLMNs at the same time.

-The 3GPP system provides a function that allows the corresponding system to obtain UAS information on support of the 3GPP communication capability designed for UAS operation.

-The 3GPP system supports UAS identification and subscription data that can distinguish between UAS with UAS-capable UE and UAS with non-UAS-capable UE.

-The 3GPP system supports detection, identification and reporting of problematic UAV(s) and UAV controllers to UTM.

In the service requirements of Rel-16 ID_UAS, the UAS is operated by a human operator using a UAV controller to control a paired UAV, and both the UAV and UAV controller are used for command and control (C2) communication. It is connected using two separate connections through a 3GPP network. The first things to consider for UAS operation are the risk of aerial collision with other UAVs, the risk of UAV control failure, the risk of intentional UAV misuse, and the risk of various users (e.g. business sharing the air, leisure activities, etc.). Therefore, in order to avoid safety risks, when considering a 5G network as a transmission network, it is important to provide UAS service by guaranteeing QoS for C2 communication.

9 shows examples of a C2 communication model for UAV.

Model-A is direct C2. The UAV controller and UAV establish a direct C2 link (or C2 communication) to communicate with each other, and both are provided by the 5G network for direct C2 communication and are registered in the 5G network using the configured and scheduled radio resources. Model-B is indirect C2. UAV controller and UAV establish and register each unicast C2 communication link to 5G network and communicate with each other through 5G network. In addition, the UAV controller and UAV can be registered in the 5G network through different NG-RAN nodes. The 5G network supports a mechanism to handle the reliable routing of C2 communications in any case. Command and control use C2 communication to transfer commands from UAV controller / UTM to UAV. This type of (Motel-B) C2 communication has two different subclasses to reflect the different distances between UAV and UAV controller / UTM, including visual line of sight (VLOS) and non-visual line of sight (Non-VLOS). Includes. The latency of this VLOS traffic type needs to take into account the instruction delivery time, human reaction time and indication of auxiliary media such as video streaming, transmission latency. Therefore, the sustainable latency of VLOS is shorter than that of Non-VLOS. The 5G network establishes each session for the UAV and UAV controller. This session communicates with UTM and can be used as the default C2 communication for UAS.

As part of the registration procedure or service request procedure, the UAV and UAV controller request UAS operation with the UTM, and indicate a predefined service class or requested UAS service identified by the application ID(s) (e.g., Navigational assistance services and weather, etc.) to UTM. UTM permits UAS operation for UAV and UAV controller, provides UAS service, and allocates temporary UAS-ID to UAS. UTM provides information necessary for C2 communication of UAS over 5G network. For example, it may include a service class, a traffic type of a UAS service, a requested QoS of an authorized UAS service, and a subscription of a UAS service. When requesting to establish C2 communication with the 5G network, the UAV and UAV controller indicate the preferred C2 communication model (eg, Model-B) with the UAS-ID assigned to the 5G network. If there is a need to create additional C2 communication connections or change the configuration of an existing data connection to C2, the 5G network will provide information about the C2 communication traffic based on the approved UAS service information of the UAS and the QoS and priority required for the C2 communication. Modify or allocate one or more QoS flows.

UAV traffic management

(1) Centralized UAV traffic management

The 3GPP system provides a mechanism for UTMs to provide route data to UAVs along with flight authorization. The 3GPP system delivers the path correction information received from the UTM to the UAS with a latency of less than 500 ms. The 3GPP system should be able to deliver notifications received from UTMs to UAV controllers with a latency of less than 500ms.

(2) De-centralised UAV traffic management

-The 3GPP system uses the following data (e.g., UAV identities, UAV type, current location and time, flight path if required based on other regulatory requirements) in order for the UAV to identify the UAV(s) in the near area for collision avoidance. (flight route) information, current speed, and operation status) are broadcast.

-The 3GPP system supports UAVs to transmit messages over a network connection to identify between different UAVs, and the UAV preserves personal information of UAVs, UAV pilots and owners of UAV operators in broadcasting of identity information.

-The 3GPP system allows UAVs to receive local broadcast communication transmission services from other UAVs over a short distance.

-UAV can directly use direct UAV to UAV local broadcast communication transmission service outside or within the coverage of 3GPP network, and direct UAV to UAV when transmitting and receiving UAVs are *?* serviced by the same or different PLMNs. Local broadcast communication transmission service can be used.

-The 3GPP system directly supports UAV-to-UAV local broadcast communication transmission service at a relative speed of up to 320kmph. The 3GPP system supports direct UAV-to-UAV local broadcast communication transmission services with various message payloads of 50-1500 bytes, excluding security-related message components.

-The 3GPP system supports a direct UAV-to-UAV local broadcast communication transmission service that can ensure separation between UAVs. Here, UAVs can be considered separate if they are at least at a horizontal distance of 50m or a vertical distance of 30m, or both. The 3GPP system supports a direct UAV-to-UAV local broadcast communication transmission service supporting a range of up to 600m.

-3GPP system supports direct UAV to UAV local broadcast communication transmission service that can transmit messages at a frequency of at least 10 messages per second, and direct UAV to UAV local broadcast communication that can transmit messages with end-to-end latency of up to 100 ms. Support transport service.

-UAV can broadcast its identity locally at a rate of at least once per second, and can broadcast its identity locally up to a range of 500m.

Security

The 3GPP system protects data transmission between UAS and UTM. The 3GPP system protects against UAS ID spoofing attacks. The 3GPP system allows non-repudiation of data transmitted between UAS and UTM in the application layer. The 3GPP system supports the ability to provide different levels of integrity and privacy protection for different connections between UAS and UTM, as well as data transmitted through UAS and UTM connections. The 3GPP system supports the confidentiality protection of UAS-related identity and personally identifiable information. The 3GPP system supports regulatory requirements (eg, lawful intercept) for UAS traffic.

When the UAS requests permission to access the UAS data service from the MNO, the MNO performs a second check (after or concurrently with the initial mutual authentication) to establish the UAS credential to operate. The MNO is responsible for transmitting and potentially adding additional data to the request to operate in UAS as Unmanned Aerial System Traffic Management (UTM). Here, UTM is a 3GPP entity. This UTM is responsible for the approval of the UAS, which operates and verifies the UAS and UAV operator's credentials. One option is that the UTM is operated by the air traffic control agency. It stores all data related to the UAV, UAV controller and live location. If the UAS fails any part of this check, the MNO can deny service to the UAS, so it can deny permission to operate.

3GPP support for aerial UE (or drone) communication

The E-UTRAN-based mechanism for providing LTE connectivity to a UE capable of public communication is supported through the following functions.

-Subscription-based public UE identification and authorization specified in TS 23.401, 4.3.31.

-Report height based on the event that the elevation of the UE exceeds the reference elevation threshold configured by the network

-Interference detection based on a measurement report triggered when the set number of cells (ie, greater than 1) simultaneously satisfies the triggering criterion.

-Signaling of flight path information from UE to E-UTRAN.

-Reporting of location information including the horizontal and vertical speed of the UE.

(1) Subscription-based identification of public UE functions

The support of the public UE function is stored in the user subscription information of the HSS. The HSS transmits this information to the MME in the process of Attach, Service Request, and Tracking Area Update. The subscription information may be provided from the MME to the base station through the S1 AP initial context setup request during attach, tracking area update, and service request procedures. In addition, in the case of X2-based handover, the source base station (BS) may include subscription information in the X2-AP Handover Request message to the target BS. More detailed information will be described later. For intra and inter MME S1 based handover, the MME provides subscription information to the target base station after the handover procedure.

(2) Height-based reporting for public UE communication

The public UE can be configured with event-based height reporting. The UE transmits a height report when the altitude of the aerial UE is higher or lower than the configured threshold. The report includes height and location.

(3) Interference detection and mitigation for public UE communication

For interference detection, when an individual (per cell) RSRP value for a set number of cells satisfies a set event, the public UE may be set to an RRM event A3, A4 or A5 that triggers a measurement report. The report includes RRM results and location. For interference mitigation, the public UE may be configured with a dedicated UE-specific alpha parameter for PUSCH power control.

(4) Report flight route information

The E-UTRAN may request the UE to report flight path information consisting of a number of intermediate points defined as 3D locations as defined in TS 36.355. The UE reports a set number of waypoints if flight path information is available in the UE. The report may also include a time stamp per waypoint, if set in the request and available at the UE.

(5) Location report for public UE communication

The location information for public UE communication may include horizontal and vertical speeds when set. The location information may be included in the RRM report and the height report.

Hereinafter, (1) to (5) of 3GPP support for public UE communication will be described in more detail.

DL / UL interference detection

For DL interference detection, measurements reported by the UE may be useful. UL interference detection may be performed based on measurements at the base station or may be estimated based on measurements reported by the UE. It is possible to perform interference detection more effectively by improving the existing measurement reporting mechanism. In addition, other related UE-based information, such as, for example, mobility history report, speed estimation, timing advance adjustment value, and location information may be used by the network to aid in interference detection. More specific details of performing the measurement will be described later.

DL interference mitigation

To mitigate DL interference in a public UE, LTE Release-13 FD-MIMO can be used. Even if the density of public UEs is high, Rel-13 FD-MIMO can be advantageous in limiting the impact on DL terrestrial UE throughput while providing DL public UE throughput that satisfies DL aerial UE throughput requirements. To mitigate DL interference in the public UE, a directional antenna may be used in the public UE. Even in the case of a high-density aerial UE, a directional antenna in the aerial UE may be advantageous in limiting the impact on DL terrestrial UE throughput. The DL aerial UE throughput is improved compared to using an omni-directional antenna in the aerial UE. That is, the directional antenna is used to mitigate interference in downlink for public UEs by reducing interference power coming from wide angles. The following types of capabilities are considered in terms of tracking the LOS direction between a public UE and a serving cell:

1) Direction of Travel (DoT): The public UE does not recognize the direction of the serving cell LOS and the antenna direction of the public UE is aligned with the DoT.

2) Ideal LOS: The aerial UE perfectly tracks the direction of the serving cell LOS and steers the antenna line of sight toward the serving cell.

3) Non-Ideal LOS: The public UE tracks the direction of the serving cell LOS, but there is an error due to practical limitations.

To mitigate DL interference for public UEs, beamforming in public UEs can be used. Even if the density of public UEs is high, beamforming in the public UEs can be beneficial in limiting the impact on DL terrestrial UE throughput and improving DL aerial UE throughput. In order to mitigate DL interference in a public UE, an intra-site coherent JT CoMP may be used. Even if the density of public UEs is high, intra-site coherent JT can improve the throughput of all UEs. LTE Release-13 coverage extension technology for non-bandwidth limited devices can also be used. In order to mitigate DL interference in a public UE, a coordinated data and control transmission scheme may be used. The advantage of the coordinated data and control transmission scheme is primarily to increase public UE throughput while limiting the impact on terrestrial UE throughput. Signaling to indicate dedicated DL resources, cell muting / ABS options, updating procedures for cell (re) selection, acquisition to apply to coordinated cells, and cells for adjusted cells May contain ID.

UL interference mitigation

To mitigate UL interference caused by public UEs, enhanced power control mechanisms can be used. Even if the density of public UEs is high, an improved power control mechanism may be beneficial in limiting the impact on UL terrestrial UE throughput.

The power control-based mechanism above affects the following items.

-UE-specific partial path loss compensation factor

-UE specific Po parameters

-Neighbor cell interference control parameters

-Closed loop power control

The power control-based mechanism for mitigating UL interference will be described in more detail.

1) UE specific fractional pathloss compensation factor

도입되는 곳에서 고려된다. UE 특정 부분 경로 손실 보상 인자

도입으로, 공중 UE를 지상 UE에 설정된 부분 경로 손실 보상 인자와 비교하여 서로 다른

구성할 수 있다. Reinforcement of the existing open loop power control mechanism is a compensation factor for UE-specific partial path loss.

It is considered where it is introduced. UE-specific partial path loss compensation factor

Introduced, by comparing the aerial UE with the partial path loss compensation factor set in the ground UE, different

Configurable.

2) UE specific P0 parameters

Public UEs are set to different Pos compared to Po set for ground UEs. Since UE-specific Po is already supported in the existing open loop power control mechanism, no enhancements to the existing power control mechanism are required.

및 UE 특정 Po는 상향링크 간섭 완화를 위해 공동으로 사용될 수 있다. 이로부터, UE 특정 부분 경로 손실 보상 인자

및 UE 특정 Po은 공중 UE의 저하된 상향링크 처리량을 희생시키면서 지상 UE의 상향링크 처리량을 향상시킬 수 있다.In addition, UE-specific partial path loss compensation factor

And UE-specific Po may be used jointly for mitigation of uplink interference. From this, UE-specific partial path loss compensation factor

And UE-specific Po can improve the uplink throughput of the terrestrial UE while sacrificing the degraded uplink throughput of the public UE.

3) Closed loop power control

The target received power for the public UE is adjusted in consideration of serving and neighbor cell measurement reports. Closed loop power control for public UEs also needs to cope with the potential high-speed signal change in the sky because public UEs can be supported by sidelobes of base station antennas.

LTE Release-13 FD-MIMO may be used to mitigate UL interference caused by a public UE. To mitigate UL interference caused by a public UE, a UE directional antenna may be used. Even in the case of a high-density aerial UE, a UE directional antenna may be advantageous in limiting the impact on UL Terrestrial UE throughput. That is, the directional UE antenna is used to reduce the uplink interference generated by the public UE by reducing the power of the uplink signal from the public UE in a wide angular range. The following types of capabilities are considered in terms of tracking the LOS direction between a public UE and a serving cell:

1) Direction of Travel (DoT): The public UE does not recognize the direction of the serving cell LOS and the antenna direction of the public UE is aligned with the DoT.

2) Ideal LOS: The aerial UE perfectly tracks the direction of the serving cell LOS and steers the antenna line of sight toward the serving cell.

3) Non-Ideal LOS: The public UE tracks the direction of the serving cell LOS, but there is an error due to practical limitations.

Depending on the ability to track the direction of the LOS between the public UE and the serving cell, the UE can align the antenna direction with the LOS direction and amplify the power of the useful signal. In addition, UL transmission beamforming may also be used to mitigate UL interference.

Mobility

The mobility performance of a public UE (eg, handover failure, radio link failure (RLF), handover interruption, time at Qout, etc.) is worse than that of a ground UE. Previously, salpin, DL and UL interference mitigation techniques are expected to improve mobility performance for public UEs. Better mobility performance is observed in rural area networks than in urban area networks. In addition, the existing handover procedure can be improved to improve mobility performance.

-Improving mobility of handover procedures and/or handover-related parameters for a public UE based on information such as location information, the air condition of the UE, and flight path planning.

-The measurement reporting mechanism can be improved by defining new events, enhancing trigger conditions, and controlling the quantity of measurement reports.

Existing mobility enhancement mechanisms (eg, mobility history reporting, mobility state estimation, UE assistance information, etc.) can be evaluated first if they operate for public UEs and further improvements are needed. The handover procedure and related parameters for the UE in the air may be improved based on the air state and location information of the UE. Existing measurement reporting mechanisms can be improved, for example, by defining new events, reinforcing triggering conditions, controlling the amount of measurement reports, and so on. Flight route planning information can be used to improve mobility.

A method of performing measurement applicable to a public UE will be described in more detail.

10 is a flowchart showing an example of a method of performing a measurement to which the present invention can be applied.

The public UE receives measurement configuration information from the base station (S1010). Here, a message including measurement setting information is referred to as a measurement setting message. The public UE performs measurement based on the measurement configuration information (S1020). If the measurement result satisfies the reporting condition in the measurement configuration information, the public UE reports the measurement result to the base station (S1030). The message including the measurement result is called a measurement report message. Measurement setting information may include the following information.

(1) Measurement object information: This is information on an object to be measured by a public UE. The measurement object includes at least one of an intra-frequency measurement object that is an intra-cell measurement object, an inter-frequency measurement object that is an inter-cell measurement object, and an inter-RAT measurement object that is an inter-RAT measurement object. For example, an intra-frequency measurement object indicates a neighboring cell having the same frequency band as a serving cell, an inter-frequency measurement object indicates a neighboring cell having a frequency band different from that of the serving cell, and the inter-RAT measurement object It is possible to indicate a neighboring cell of a RAT different from the RAT of the serving cell.

(2) Reporting configuration information: This is information on reporting conditions and reporting types regarding when to report when a public UE transmits a measurement result. The report setting information may be composed of a list of report settings. Each reporting setting may include a reporting criterion and a reporting format. The reporting criterion is a criterion for triggering the UE to transmit the measurement result. The reporting criterion may be a period of measurement reporting or a single event for measurement reporting. The report format is information on what type of the public UE to configure the measurement result.

Events related to the public UE include (i) event H1 and (ii) event H2.

Event H1 (airborne UE height above threshold)

The UE considers that the entry condition for this event is satisfied when 1) the condition H1-1 specified below is met, and 2) the exit condition for this event is satisfied when the condition H1-2 specified below is met. It is considered to be satisfied.

Inequality H1-1 (entering condition):

Inequality H1-2 (leaving condition):

In the above formula, the variable is defined as follows.

MS is the aerial UE height and does not take any offset into account. Hys is the hysteresis parameter for this event (ie h1-hysteresis as defined in ReportConfigEUTRA). Thresh is the reference threshold parameter for this event specified in MeasConfig (ie heightThreshRef defined in MeasConfig). Offset is the offset value for heightThreshRef to obtain the absolute threshold for this event (ie, h1-ThresholdOffset defined in ReportConfigEUTRA). Ms is expressed in meters. Thresh is expressed in the same unit as Ms.

Event H2 (airborne UE height below threshold)

The UE shall 1) consider that the entry condition for this event is satisfied when the condition H2-1 specified below is met, and 2) the exit condition for this event is satisfied when the condition H2-2 specified below is met. It is considered to be.

Inequality H2-1 (entry condition):

Inequality H2-2 (exit condition):

In the above formula, the variable is defined as follows.

MS is the aerial UE height and does not take any offset into account. Hys is the hysteresis parameter for this event (ie h1-hysteresis as defined in ReportConfigEUTRA). Thresh is the reference threshold parameter for this event specified in MeasConfig (ie heightThreshRef defined in MeasConfig). Offset is the offset value for heightThreshRef to get the absolute threshold for this event (i.e. h2-ThresholdOffset defined in ReportConfigEUTRA). Ms is expressed in meters. Thresh is expressed in the same unit as Ms.

(3) Measurement identity (Measurement identity) information: This is information about a measurement identifier that allows the public UE to determine when and in what type to which measurement object to report by associating a measurement object with a reporting configuration. The measurement identifier information may be included in the measurement report message to indicate to which measurement object the measurement result is and under which report condition the measurement report occurred.

(4) Quantity configuration information: This is information about a measurement unit, a report unit, and/or a parameter for setting filtering of a measurement result value.

(5) Measurement gap (Measurement gap) information: Information on the measurement gap, which is an interval that can only be used for measurement without consideration of data transmission with a serving cell because downlink transmission or uplink transmission is not scheduled. to be.

In order to perform the measurement procedure, the public UE has a measurement target list, a measurement report configuration list, and a measurement identifier list. When the measurement result of the public UE satisfies the set event, the UE transmits a measurement report message to the base station.

Here, the following parameters may be included in the UE-EUTRA-Capability Information Element in relation to the measurement report of the public UE. IE UE-EUTRA-Capability is used to deliver the E-UTRA UE Radio Access Capability parameter and the functional group indicator for essential functions to the network. IE UE-EUTRA-Capbility is transmitted in E-UTRA or other RAT. Table 1 is a table showing an example of the UE-EUTRA-Capability IE.

- ASN1START...
MeasParameters-v1530 ::= SEQUENCE {
qoe-MeasReport-r15 ENUMERATED {supported} OPTIONAL,
qoe-MTSI-MeasReport-r15 ENUMERATED {supported} OPTIONAL,
ca-IdleModeMeasurements-r15 ENUMERATED {supported} OPTIONAL,
ca-IdleModeValidityArea-r15 ENUMERATED {supported} OPTIONAL,
heightMeas-r15 ENUMERATED {supported} OPTIONAL,
multipleCellsMeasExtension-r15 ENUMERATED {supported} OPTIONAL
}...

The heightMeas-r15 field defines whether the UE supports the height-based measurement report specified in TS 36.331. As defined in TS 23.401, it is essential to support this function for UEs with public UE subscriptions. The multipleCellsMeasExtension-r15 field defines whether the UE supports a measurement report triggered based on a plurality of cells. As defined in TS 23.401, it is essential to support this function for UEs with public UE subscription. UAV UE identification

The UE may indicate radio capabilities in the network that may be used to identify UEs with related functions supporting UAV related functions in the LTE network. The permission for the UE to function as a public UE in the 3GPP network can be known from subscription information transmitted from the MME to the RAN through S1 signaling. The actual "public use" authentication/license/restriction of the UE and how it is reflected in the subscription information can be provided from the Non-3GPP node to the 3GPP node. The in-flight UE can use UE-based reporting (e.g., in-flight mode indication, altitude or location information, enhanced measurement reporting mechanism (e.g., introduction of a new event)) or to the mobility history information available in the network. Can be identified by

Subscription handling for public UEs

The following description relates to subscription information handling for supporting public UE functions through E-UTRAN defined in TS 36.300 and TS 36.331. An eNB supporting public UE function processing uses the user-specific information provided by the MME to determine whether the UE can use the public UE function. The support of the public UE function is stored in the user's subscription information in the HSS. The HSS transmits this information to the MME through a location update message during attach and tracking area update procedures. The home operator can revoke the user's permission to subscribe to operate the public UE at any time. The MME supporting the public UE function provides the user's subscription information for public UE approval to the eNB through an S1 AP initial context setup request during attach, tracking area update, and service request procedure.

The purpose of the initial context setup procedure is to establish the required full initial UE context, including E-RAB context, security key, handover restriction list, UE radio function and UE security function, and the like. This procedure uses UE-related signaling.

In the case of intra and inter MME S1 handover (intra RAT) or Inter-RAT handover to E-UTRAN, the public UE subscription information for the user is S1-AP UE context change request transmitted to the target BS after the handover procedure ( context modification request) message.

The purpose of the UE context change procedure is to partially change the UE context set with, for example, a security key or a subscriber profile ID for RAT/frequency priority. This procedure uses UE-related signaling.

In the case of X2-based handover, public UE subscription information for the user is transmitted to the target BS as follows:

-If the source BS supports the public UE function and the user's public UE subscription information is included in the UE context, the source BS includes the information in the X2-AP handover request message to the target BS.

-The MME sends public (Aerial) UE subscription information to the target BS in the Path Switch Request Acknowledge message.

The purpose of the handover resource allocation procedure is to secure resources in the target BS for handover of the UE.

When the public UE subscription information is changed, the updated public UE subscription information is included in the S1-AP UE context change request message transmitted to the BS.

Table 2 below is a table showing an example of public UE subscription information.

IE/Group Name Presence Range IE type and reference Aerial UE subscription information M ENUMERATED (allowed, not allowed,...)

Aerial UE subscription information is used by the BS to know if the UE can use the public UE function.

Combination of drone and eMBB

The 3GPP system can simultaneously support data transmission for UAV (public UE or drone) and eMBB users.

Under limited bandwidth resources, the base station may need to simultaneously support data transmission for UAV in the air and eMBB users on the ground. For example, in a live broadcast scenario, a UAV over 100 meters needs to transmit a captured picture or video to the base station in real time, requiring high transmission speed and wide bandwidth. At the same time, the base station needs to provide the required data rate for terrestrial users (eg eMBB users). And, interference between these two types of communications needs to be minimized.

Hereinafter, the unmanned aerial robot will be referred to as a drone. In order to position indoors or outdoors using a drone, the position control of the flying drone must be precisely performed in order to accurately measure the measuring space to be measured. However, when a drone is flying indoors, it may be difficult to receive a GPS signal because the strength of a GPS (Global Positioning System) signal is weak.

In this case, since the drone may not receive GPS signals, there may be a problem that it is difficult to control the GPS-based location that is generally used in outdoor flight. If the drone flies within a specific structure, the drone's location We need a separate way to know. In addition, in the case of image-based position control using only the existing marker (light source), as the distance between the marker and the drone increases, the position measurement accuracy decreases, making it difficult to control the position of the drone, resulting in a problem that the flight performance of the drone is degraded.

In addition, when a drone uses a cloud mapping method using Lidar in an indoor environment, errors generated during flight of the drone may be reflected in the mapping result if the reference coordinates are not set. If the horizontal axis of the position as the reference point is shaken or changed, a lot of errors occur in the mapping result.

For example, when positioning a narrow measurement space, such as a space positioning for elevator installation, measurement errors must be managed precisely, and drones that increase/decrease the altitude only in the vertical direction without changing the location of the narrow measurement space The occurrence of errors should be minimized.

In other words, when the set absolute coordinates are changed during the flight of the drone, it is necessary to correct the change of the absolute coordinates in real time through control using a sensor because it causes a large error in the entire data.

Hereinafter, a detailed control method of a drone for positioning an indoor or outdoor space will be described.

11 shows an example of a drone and a drone station for positioning according to an embodiment of the present invention.

Referring to FIG. 11, a flight system for indoor or outdoor positioning provides a drone 1110 for positioning a measurement space through flight and a central position for precise control of the drone's take-off/landing and the location of the drone 1110. It can be composed of a station.

Specifically, the station 1120 for take-off/landing and battery charging of the drone 1110 is a take-off/landing ground 1122 for take-off/landing of the drone, and the station maintains level to maintain the level in the measurement space for measurement. The device 1124, a horizontal moving device 1126 for changing the position of the station, and a charging device (not shown) for charging the battery of the drone may be included.

When positioning a specific room (hereinafter, a measurement space), the station 1120 may be a reference for determining the location of the drone 1110. For example, the drone 1110 may land at the take-off/landing area 1122 of the station 1120, and take off from the station 1120 when positioning of the measurement space is started, thereby positioning the measurement space.

At this time, the drone 1110 may determine whether the horizontal axis position of the drone 1110 has changed after starting flight based on the position of the station 1120.

For example, if the drone 1110 attempts to fly vertically from the position of the station 1120 after take-off and locates the measurement space, the drone 1110 does not move to the current horizontal axis position and only flies in the vertical axis. Whether or not is being performed may be recognized based on the station 1120.

Therefore, the station 1120 determines whether the position at which the drone 1110 attempts to measure is correct or whether the current station 1120 is horizontal, based on the leveling device 1124, and if it is not horizontal, the station 1120 A leveling device may be used so that the level of) is maintained.

If the drone 1110 locates the measurement space while flying vertically from the center of the measurement space, the station 1120 determines whether the current location of the drone 1110 is the center of the measurement space. Can be. Therefore, the station 1120 must be located at the center of the measurement space before the drone 1110 takes off.

To this end, the station 1120 may measure the distance to each wall in order to be located at the center position of the measurement space, and may move to the center position of the measurement space based on the measured distance.

The station 1120 may include a plurality of laser points in the take-off/landing ground 1122 in order to generate a plurality of laser beams for recognizing the position of the station to the drone 1110, and to maintain the level of the station 1120. The leveling device 1124 for may include a mechanism and a control unit.

For example, the plurality of laser points may be guide lasers for generating three or more laser beams, and the take-off/landing ground 1122 may include a guide marker and a laser pointer.

In addition, the leveling device 1124 may include a DOF motion platform or a horizontal device using pneumatic pressure.

In addition, when the station 1120 is not located at the center position, the horizontal movement device 1126 for movement may include an omni wheel and a laser sensor.

In this case, the station 1120 may determine whether the station 1120 is at the center position by generating a laser beam to each wall surface of the measurement space using a laser sensor provided in the horizontal moving device 1126.

Specifically, the station 1120 measures the distance to each wall of the measurement space using a laser sensor, and adjusts the center of the station at a point where the sensor value is the minimum. At this time, the station 1120 may move to the center position using an omni wheel.

The omniwheel can be positioned without orientation on the xy plane, can quickly correct position errors, and can change direction without rotation, so horizontal/vertical control can be quickly performed.

Using such a drone 1110 and station 1120, precise positioning of an indoor space is possible.

In addition, although not shown in FIG. 11, the station 1110 may further include a charging device (not shown) for charging the battery of the drone. The charging device may include a wired charging device and/or a wireless charging device, and may charge the power of the drone's battery while the drone is landing at the station.

12 shows an example of main components of a drone for positioning according to an embodiment of the present invention.

Referring to FIG. 12, the drone 1110 may locate a measurement space according to altitude through vertical flight.

Specifically, the drone 1110 for positioning indoors or outdoors is a flying vehicle 1111 for flight, a positioning device 1113 for positioning, and indoor flight of the drone 1110 as shown in FIG. 12(b). In the sensor 1115 for positioning, vibration suppression of the drone 1110, a gym ball (Gimbal, 1117) for position maintenance and 3-axis (X, Y, Z axis) control, and a camera (1119) for image capture. Can be equipped.

The positioning device 1113 may perform an operation for a mission to be performed in order for the drone 1110 to provide a specific service (eg, indoor or outdoor positioning, etc.).

For example, as shown in (a) of FIG. 12, when the drone locates a narrow room, the positioning device 1113 is a sensor for positioning the room (a second sensor or 3D LiDAR Light Detection and Ranging). I can. Lidar sensor is a sensing technology that detects remote objects and measures distances using a light source and a receiver. When the light pulse (eg, laser) emitted from the light source hits an object and is reflected back to the LiDAR system, the receiver can detect the returned light pulse.

The time between transmitting and receiving the optical pulse may vary depending on the distance between the LiDAR system and the object, and the distance between the drone and the object can be calculated using the time from transmission to reception.

In the indoor flight of the drone 1110, a sensor (first sensor, 1115) for position positioning detects a plurality of laser beams transmitted from the station when the drone is flying vertically for indoor positioning, and the drone 1110 is sent to the station. Do not deviate from the central position where it is located.

That is, in order for the drone 1110 to measure the distance from the center position to each wall surface according to the height in a narrow measurement space, the drone 1110 does not move from the reference position to the horizontal axis by setting the position of the station as a reference position. You need to increase the altitude by measuring the distance to each wall by moving only on the vertical axis.

Accordingly, the drone 1110 may detect a plurality of laser beams generated from the station through the sensor 1115 so as not to deviate from the reference position.

The drone 1110 recognizes that the number of detected laser beams is less than the number of multiple laser beams generated from the station, or when the position is changed, the drone 1110 is out of the reference position, and a plurality of laser beams transmitted from the station The position can be moved to be detected by this sensor 1115.

Specifically, the drone 1110 may fly vertically in order to measure the distance to each wall according to the altitude. At this time, the drone 1110 may perform vertical flight with the position of the station as a reference position in order to measure the distance from the center position to each wall surface in the measurement space.

The drone 1110 first recognizes a plurality of laser beams generated from a station through a camera and/or a plurality of guide markers for position control in order to detect whether or not it deviates from the reference position while performing vertical flight. If all of the plurality of laser beams and/or the plurality of guide markers are not recognized through the camera, the drone 1110 is recognized as deviating from the reference position, and the plurality of laser beams and/or the plurality of guide markers are all recognized. Move it. Thereafter, in order to adjust the precise position of the drone 1110, a plurality of laser beams are sensed using the sensor 1115, and it is determined whether the drone 1110 has deviated from the reference position through the plurality of detected laser beams. Allow the drone 1110 to maintain the reference position.

For example, the drone 1110 detects a plurality of laser beams using a sensor 1115, and whether or not all of the plurality of laser beams are detected, and the position of the detected plurality of laser beams, the drone 1110 is It is possible to determine how far away from the reference position.

Thereafter, the drone 1110 may move the drone 1110 to the reference position of the station based on the determination result.

In addition, the drone 1110 may calculate a distance to a location where each of the plurality of laser beams is generated using a plurality of laser beams, and determine whether the drone is horizontal based on the calculated distance.

If the calculated distance is different, it is recognized that the drone 1110 is not horizontal, and the left and right horizontal of the drone 1110 can be adjusted so that the calculated distance is the same. For example, it is possible to maintain the level of the drone 1110 by lowering the altitude of the shorter distance or lowering the altitude of the longer distance. Alternatively, by controlling the X-axis, Y-axis, and/or Z-axis of the horizontal and/or vertical axis using the gimball 1117, the posture and the horizontal of the drone 1110 may be controlled by adjusting the shorter or longer distance. .

The camera 1119 may perform an operation for a mission to be performed in order to provide a specific service with the positioning device 1113, or the drone with the sensor 1115 maintains a reference position and may be used for vertical flight. .

For example, when the camera 1119 is used to position a narrow room together with the positioning device 1113, the drone 1110 acquires image information by photographing each wall surface of the positioning space using the camera 1119. Then, modeling of the measurement space (eg, 3D modeling information, as shown in (a) of FIG. 12) may be obtained through the positioning device 1113.

Thereafter, a result of the measurement space may be obtained by using the image information acquired through the camera 1119 and the modeling acquired through the positioning device 1113 together. In this case, since image information and modeling are used together, it is possible to measure an image of a wall and a detailed distance to each of the walls, so that a detailed positioning of the measurement space is possible.

In addition, by recognizing a plurality of beams generated from the station and/or a plurality of guide markers displayed on the station through the camera 1119, the drone 1110 together with the sensor 1115 determines the center position of the measurement space. It can be used for position control to maintain.

13 shows an example of main components of a station for vertical flight of a drone according to an embodiment of the present invention.

Referring to FIG. 13, an example of the main configurations of the station described in FIG. 11 is shown.

13A shows an example of the take-off/landing ground 1122 of the station described in FIG. 11 and a plurality of laser pointers provided therein. The left side of FIG. 11A is an example of a plurality of laser pointers and serves to guide the drone to the center position so that the drone does not deviate from the center position by the station.

The right side of FIG. 13A shows an example of a take-off/landing ground 1122 including a plurality of laser pointers and markers.

The drone recognizes a plurality of laser beams and/or markers generated from a plurality of laser pointers provided in the take-off/landing ground 1122 with a camera and primarily controls the position (Coarse control), and uses a plurality of laser beams as sensors. Recognize and secondary position can be precisely controlled (Fine Control).

13B shows an example of the leveling device 1124 described in FIG. 11.

The leveling device 1124 may be used to level the station 1120 as described in FIG. 11. The left side of FIG. 11B shows an example of a 6 DOF motion platform, and the right side shows an example of a horizontal device using pneumatic pressure.

The horizontal device using pneumatic determines whether or not the station is horizontal using a digital level as shown in (b) of FIG. 13, and if not, adjusts the height/height of the pedestal using a pneumatic cylinder. You can adjust the level.

13C shows an example of the horizontal movement device 1126 described in FIG. 11, the left side shows an example of the four-wheel horizontal movement device, and the right side shows an example of the three-wheel horizontal movement device. The horizontal movement device 1126 may be composed of a laser sensor and an omni wheel.

The station can determine whether the station is located at the center position of the measurement space by using a laser sensor, and if it is not located at the center position, it can move to the center position using an omniwheel.

Specifically, when it is determined that the station is not located at the center position of the measurement space using a laser sensor, the station may move the station position by moving using the omni wheel of the horizontal movement device 1126.

At this time, the station may move to the center position based on the distance measured using the laser sensor. For example, if the distance to a specific wall is short or long among the distances measured using a laser sensor, it can be moved to a shorter direction and the distance from the station to each wall is the same center position.

14 is a flow chart showing an example of a positioning method using vertical flight according to an embodiment of the present invention.

Referring to FIG. 14, in a drone flight system composed of a drone, a station, and a server, a drone can fly vertically while maintaining a central position in a measurement space using a station, and a measurement space measured according to altitude through vertical flight. The measurement result of can be transmitted to the server.

Specifically, the station equipped with the drone may move to the center position of the measurement space, which is the reference position for the vertical flight of the drone (S14010). As described with reference to FIGS. 11 and 13, the station may determine whether the station is at the center position of the measurement space using a laser sensor of the horizontal moving device, and may move to the center position using an omniwheel.

Thereafter, when the drone starts to fly vertically, the station can generate a plurality of laser beams using a plurality of laser pointers at the take-off/landing ground.

When the station moves to the central position, the drone uses the station to fly vertically from the central position of the measurement space (S14020). As described with reference to FIGS. 11 and 12, the drone may perform vertical flight while maintaining the center position of the measurement space by detecting a plurality of markers and/or a plurality of laser beams of the station using a camera and/or sensor.

The drone may position the measurement space while flying vertically from the center position (S14030). As described in FIG. 12, the drone may acquire image information on the measurement space through a camera, and modeling on the measurement space may be obtained using a measurement device (eg, a 3D LiDAR system).

Thereafter, the drone may obtain a final measurement result for the measurement space by using the acquired image information and a measurement device. That is, by combining image information and modeling, a final measurement result for the measurement space can be derived, and the derived measurement result can be transmitted to the server.

In another embodiment of the present invention, the drone may obtain route information related to the flight path of the drone for the measurement space from the server before take-off for vertical flight. The drone can measure the measurement space while flying based on the route information obtained from the server.

Using such a method, the drone can fly vertically while maintaining the center position of the measurement space, and precise measurement of the measurement space is possible by measuring the measurement space using not only a camera but also a Lidar system.

15 and 16 illustrate an example of a method for positioning a station at a center in a space in which a station is measured for vertical flight of an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 15, the station generates a plurality of laser beams using a plurality of laser pointers at the center position in order to allow the drone to perform vertical flight at the center position in the measurement space as shown in Fig. 15(a). I can make it. To this end, the station may move to the center of the measurement space as shown in (b) of FIG. 15.

Hereinafter, a case in which the measurement space has four sides will be described as an example. This is only an example, and the station can be moved to the center position using the method described below in a measurement space composed of a plurality of surfaces other than 4 surfaces.

As described with reference to FIGS. 11 and 13, the station can calculate the distance from its current position to each surface using a plurality of laser sensors provided in a horizontal movement state in a state in which the drone lands. For example, the station may generate a laser beam to each surface using a plurality of laser sensors, and detect a reflected beam from which the generated laser beam is reflected from each surface through the laser sensor.

The station can calculate the distance to each surface by calculating the return time of the laser beam transmitted to each surface, and determine whether the station's position is the center position by comparing whether the distance to each surface is the same. can do.

Alternatively, when the measurement space is not square, it is possible to determine whether the station is in the center position by comparing the length of each side to the opposite side of the side.

For example, if the length of one side is shorter than the length of the other side, the station may determine that the station is skewed toward the shorter side.

In this case, the station can move to the center position by moving using an omni wheel to a position having the same length to each side or the same length to one side and the other side.

Thereafter, when the station moves to the center position, the drone can take off, and the station generates a plurality of laser beams using a plurality of laser pointers provided in the take-off/landing area when the drone takes off, and the drone flies vertically at the center position. Can be done.

16 is a flowchart illustrating the method described in FIG. 15, wherein the station can measure the distance to each wall surface of the measurement space using a plurality of laser sensors to determine whether the current location is the center location of the measurement space. Yes (S16010).

The station may determine whether the position of the station is a center position from each wall surface of the measurement space based on the measured distance to each wall surface.

For example, as described in FIG. 15, the station can calculate the distance to each surface by calculating the time that the laser beam transmitted to each surface is reflected and returned, and compares whether the distance to each surface is the same. It can be determined whether the location of the station is the central location.

Alternatively, when the measurement space is not square, it is possible to determine whether the station is in the center position by comparing the length of each side to the opposite side of the side.

For example, if the length of one side is shorter than the length of the other side, the station may determine that the station is skewed toward the shorter side.

If it is determined that the station is not located at the center position, the station may move to the center position of the measurement space based on the measured distance (S16020). For example, the station can be moved to the center position by moving using an omniwheel to a position where the length to each side is the same, or the length to one side and the other side are the same. Alternatively, the station may move to the center position by moving using an omniwheel to a position having the same length to each side or the same length to one side and the other side.

A station that has moved to the center of the measurement space can determine whether the station is horizontal with the floor of the measurement space using a leveling device, and if it is not horizontal, use the leveling device described in FIGS. 11 and 13. Thus, the horizontal can be adjusted (S16030).

For example, when the station is not horizontal, the station may adjust the height of the station using a pneumatic cylinder on the inclined side using a leveling device using pneumatic pressure, which is a leveling device, so that the station is level on the floor surface.

If the floor surface and the station are horizontal, the station can transmit a signal for take-off to the server or drone, and the drone can take off by receiving a signal instructing take-off from the server or station.

Thereafter, the station can generate a plurality of laser beams in a vertical direction from a plurality of laser pointers provided in the take-off/landing ground so that the drone performs vertical flight without deviating from the center position (S16040), and the drone is displayed on the take-off/landing ground. Vertical flight may be performed while maintaining a central position by using a plurality of laser beams generated from a marker and/or a plurality of laser pointers.

Using such a method, the station can determine whether the location where the station is located is the center location of the measurement space, and if it is not the center location, the station can move to the center location.

17 and 18 illustrate an example of a method for performing vertical flight while maintaining a horizontal axis position by using a station in an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 17, the drone performs course control to move to the location of the station using a marker displayed on the floor of the measurement space and/or the take-off/landing area of the station. Using two laser beams, it is possible to perform precise fine control that moves to the center of a specific space where the drone is located.

Specifically, the drone may detect a relative position (eg, posture, etc.) between the drone and the station based on image information about a marker in a measurement space acquired using a camera. The drone may move the drone's position to the same position as the station's position based on the detected relative position.

Thereafter, a plurality of laser beams generated from a station included in the marker can be sensed through a sensor, and the position of the drone can be accurately positioned at the center of the measurement space regardless of the altitude of the drone.

In other words, since the laser beam can be transmitted to a long distance, the drone can detect the laser beam transmitted from the station regardless of altitude through the sensor, and the sensor of the drone is an optical sensor to detect the laser beam (e.g. For example, it may be Photodiode: PD).

In this case, the position of the drone can be controlled by moving the marker on the floor of the station or measurement space.

For example, as shown in (a) of FIG. 17, the drone may acquire image information by photographing a marker marked on the floor of the measurement space through a camera. In the marker illustrated in FIG. 17A, a plurality of laser beams from which a plurality of laser pointers are generated may constitute one marker. In addition, although it is shown that the marker is marked on the floor of the measurement space in (a) of FIG. 17, the marker may be configured using a plurality of laser pointers in the take-off/landing ground of the station.

The drone can recognize where the drone is located in the measurement space using the acquired image information, and if it is not located at the center of the measurement space, the marker at the center position in FIG. 17(b) is the camera. You can move the location to be photographed through.

Through this, the drone can recognize a position relative to the floor surface or the station, and the drone can be controlled to be located at the center position of the measurement space according to the recognized relative position.

Thereafter, the drone can precisely control the attitude of the drone so that the drone is positioned at the correct center position by using a plurality of laser beams generated from the bottom surface of the center position or the station.

Specifically, the drone can recognize a plurality of laser beams generated at a central position through a sensor (eg, an optical sensor or a first sensor), and whether or not all of the plurality of laser beams are recognized, and the recognized plurality of lasers By controlling the position depending on whether the beams are located at the center, precise control can be performed so that the drone is located at the center position of the measurement space.

For example, as illustrated in FIG. 18, if all of the plurality of laser beams are not recognized or a marker at a location other than the center position is recognized, the drone may recognize that the relative position of the drone is not the center position. In this case, the drone may first control the movement of the drone by changing its location so that the marker at the center location is recognized.

Thereafter, when all of the plurality of laser beams included in the marker at the center position are recognized, it is possible to recognize in which direction the recognized laser beam is skewed. That is, if the recognized plurality of laser beams are not located at the position of (0,0) but are located at different positions, the drone determines that the current position is not the center position.

The drone can perform precise control so that the drone is accurately positioned at the center position of the measurement space by changing the position so that a plurality of laser beams are positioned at the position of (0,0) (secondary control).

In this case, the drone can calculate the positions of the X-axis and Y-axis through Equation 1 below as shown in FIG. 18.

Also, as described above, the drone can recognize whether the drone's posture is maintained horizontally by measuring the distance to each laser beam. That is, if the distance to each laser beam is different, the drone may determine that the sage posture is not horizontal, and the posture of the drone may be adjusted so that the distance using each laser beam is the same, thereby maintaining the level.

In this way, the drone first recognizes the relative position of the drone using image information through the camera, changes the position to the position for precise control, and then secondarily senses a plurality of laser beams generated on the floor or station. By recognizing it as and performing precise control, it is possible to perform vertical flight while the drone is accurately positioned at the center position.

19 is a flowchart illustrating an example of a method for performing vertical flight while maintaining a horizontal axis position using a station by an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 19, the drone maintains a reference position, which is a central position, using a plurality of beams generated from a station using a camera and/or a sensor, and performs vertical flight to measure a measurement space according to an altitude.

Hereinafter, in the present embodiment, it is assumed that the station has already moved to the center position of the measurement space through the method described with reference to FIGS. 14 and 15.

Specifically, after taking off from the station at the center of the measurement space, the drone may periodically or aperiodically detect a plurality of laser beams generated from the station using a camera and/or sensor (S19010).

The drone can recognize whether the current position of the drone has changed from the reference position, which is the center position at the time of take-off, using the plurality of detected laser beams.

That is, the drone may determine whether the position of the drone has changed by determining whether all of the plurality of laser beams are recognized and whether the recognized plurality of laser beams are located at the center.

When the position of the drone is not changed from the reference position, the drone performs a vertical flight that increases the altitude of the vertical axis while maintaining the horizontal axis position as the reference position, and measures the measurement space according to the altitude (S19030).

However, when the position of the drone is changed from the reference position, the position of the drone may be controlled based on the detected laser beam.

That is, the drone can move to the reference position, which is the initial position, using the laser beam detected according to the method described in FIGS. 17 and 18, and after moving to the reference position, the drone maintains the horizontal axis position as the reference position. Vertical flight is performed to increase the altitude, and the measurement space is measured according to the altitude (S19030).

In addition, by calculating the distance to each of the plurality of laser beams generated from the station, it is possible to control the horizontal posture of the drone as described in FIG. 18.

In order to measure the measurement location (hereinafter, the wall surface) according to the altitude, the drone can acquire image information on each wall by first photographing each wall through the drone's camera.

Thereafter, the drone can secondarily acquire modeling information for each wall using a measurement device (eg, 3D LiDAR), and use the acquired image information and modeling information together to determine the measurement results for each wall. Can be obtained.

That is, the drone may recognize the distance to each wall surface and the shape of each wall surface using a laser beam through a measuring device, and obtain modeling information on the measurement space by using this.

The drone may obtain a specific measurement result for a measurement space by combining the acquired image information and modeling information, and the obtained measurement result may be transmitted to a station or a server using a wireless communication means.

In this case, the wireless communication means may be a short-range communication means (eg, Bluetooth) and/or a long-distance communication means (eg, LTE, LTE-A, Wi-Fi, 5G, etc.).

Using such a method, the drone can precisely control the location by detecting whether it is out of the center position of the measurement space, and by measuring the measurement space using image information and modeling information, information on the specific measurement space can be obtained. Can be obtained.

FIG. 20 is a flowchart illustrating another example of a method for performing vertical flight while maintaining a horizontal axis position by using a station by an unmanned aerial vehicle according to an embodiment of the present invention.

Referring to FIG. 20, the drone can precisely control the position of the drone by detecting an image through a camera and a laser beam through a sensor, so that the drone is accurately positioned at the center of the measurement position.

Specifically, the drone may recognize an image of the measurement space by taking a measurement space for controlling the position and/or posture of the drone through the camera (S20010). That is, the drone may firstly acquire image information by photographing the floor surface and/or the station of the measurement space using a camera, thereby recognizing the floor surface and/or the marker displayed on the station. In this case, the marker may be composed of a plurality of laser beams generated from a plurality of laser pointers.

The drone recognizes whether a marker, which is a light source pattern, is included in the image information of the measurement space recognized through the camera (S20020), and is related to the relative position between the drone and the station or the floor surface according to whether the marker is included in the image information. First location information may be obtained.

That is, if the marker is not included in the image information, the drone cannot obtain the first location information, and may search for the light source pattern again using the camera (S20030).

If the first location information is acquired, the drone can recognize the relative position between the drone and the floor surface or the station based on the first information, and based on the recognized relative position, the drone Whether it is located at this reference position can be recognized.

The drone may control the location/position based on the first location information depending on whether the drone is located at the reference location.

That is, if the drone is not located at the reference position, the drone moves its position based on the laser beam generated from the floor surface or the station, and the position/position of the drone can be controlled so that the drone is located at the center position (Course control ( Coarse control), S20040).

When the drone moves to the reference position based on the first location information, the drone attempts to detect a plurality of laser beams constituting the marker at the center position using a sensor (optical sensor).

If all of the plurality of laser beams are not recognized through the optical sensor, the drone returns to step S20030 and searches for a light source pattern again (S20030).

However, when all of the plurality of lasers are recognized through the optical sensor, second position information related to the precise position of the current drone may be obtained using the optical sensor that has recognized the recognized plurality of laser beams (S20050).

The drone can precisely control the position of the drone so that a plurality of laser beams are positioned at the center of the detection area detected by the drone, as described in FIG. 18 based on the second location information (fine control). , S20060).

That is, if the plurality of laser beams are not located at the center of the detection area detected by the drone, the drone must change the horizontal axis position of the drone so that the plurality of laser beams are located at the center of the detection area detected by the drone. I can.

In a drone, when a plurality of laser beams are located at the center of the detection area detected by the drone, the drone performs vertical flight that increases the elevation of the vertical axis while maintaining the horizontal axis position as the reference position, and measures the measurement space according to the altitude.

In addition, by calculating the distance to each of the plurality of laser beams generated from the station, it is possible to control the horizontal posture of the drone as described in FIG. 18.

In order to measure the measurement location (hereinafter, the wall surface) according to the altitude, the drone can acquire image information on each wall by first photographing each wall through the drone's camera.

Thereafter, the drone can secondarily acquire modeling information for each wall using a measurement device (eg, 3D LiDAR), and use the acquired image information and modeling information together to determine the measurement results for each wall. Can be obtained.

That is, the drone may recognize the distance to each wall surface and the shape of each wall surface using a laser beam through a measuring device, and obtain modeling information on the measurement space by using this.

The drone may obtain a specific measurement result for a measurement space by combining the acquired image information and modeling information, and the obtained measurement result may be transmitted to a station or a server using a wireless communication means.

In this case, the wireless communication means may be a short-range communication means (eg, Bluetooth) and/or a long-distance communication means (eg, LTE, LTE-A, Wi-Fi, 5G, etc.).

21 is a diagram showing an example of a positioning method according to an embodiment of the present invention.

Referring to FIG. 21, a drone can acquire primary image information on a wall of a measurement space using a camera, and secondaryly, a laser sensor (eg, LiDAR sensor) can be used to reach each wall. You can recognize the distance and the state of the wall.

First, based on the method described in FIGS. 11 to 20, the station is located at the center position of the measurement space, and the drone uses the center position of the station as a reference position to fix the horizontal axis position and perform vertical flight by increasing the altitude along the vertical axis. I can.

Drones can perform specific missions to provide services to users while flying vertically. For example, in the case of providing a service for measuring a narrow space, the drone can measure each wall of the measurement space periodically or aperiodically according to the altitude while flying vertically, and the measured measurement information can be used by short-range communication means or It can be transmitted to a server or station using a long-distance communication means.

In this case, the drone may receive route information related to the route to be flighted from the server or station in advance from the server or station.

Specifically, the drone may acquire image information by photographing each wall surface using a camera as shown in (a) of FIG. 21 first while flying vertically. The image information may be information continuously photographed while the drone raises the altitude, or may be image information on a wall photographed by the drone stopped at a specific altitude.

Thereafter, the drone may acquire modeling information of a wall surface from which image information is acquired through a Lidar sensor, which is a measuring device, as shown in FIG. 21B. That is, the drone may acquire modeling information indicating the distance to each wall and the state of the wall through the measuring device.

The drone may acquire a specific measurement result for the measurement space by using the image information and the modeling information together, and may transmit the obtained measurement result to the server and/or the station.

In this way, specific positioning is possible by using not only a camera but also a precision measurement sensor such as a Lidar sensor, which is a laser sensor.

22 is a flowchart illustrating an example of a positioning method according to an embodiment of the present invention.

First, based on the method described in FIGS. 11 to 20, the station is located at the center position of the measurement space, and the drone uses the center position of the station as a reference position to fix the horizontal axis position and perform vertical flight by increasing the altitude along the vertical axis. I can.

In this case, the drone may receive flight path information related to the flight path for positioning the measurement space from the server or the station before starting the flight from the station (S22010). Step S22010 is an optional step, and may not be performed when the drone is simply flying vertically. Or, in the case of vertical flight, the sensor is installed at the last position of vertical flight, or through the sensor of the drone itself, the drone can detect the last measurement position through vertical flight, and when the measurement is finished at the last position of the measurement, the drone Can land at the station again.

Thereafter, the drone may perform vertical flight at the center position of the measurement space using a camera and a sensor as in the method described with reference to FIGS. 11 to 20.

The drone may acquire first positioning information by positioning the measurement space by photographing the measurement space using a camera according to the altitude while flying vertically (S22020). The first positioning information may be image information through a camera.

Thereafter, the drone may acquire second measurement information by positioning a measurement space using a lidar sensor (S22030). The second measurement information is information capable of specifically recognizing the distance to each wall surface of the measurement space and the state of the wall surface by measurement using a laser beam through a lidar sensor. In this case, the second measurement information may be modeling information.

After obtaining the first measurement information and the second measurement information, the drone generates measurement result information on the measurement space by using the first measurement information and the second measurement information (S22040).

That is, the drone may generate measurement result information including specific information such as an image, a distance, and a state of a measurement space by combining image information that is the first measurement information and modeling information that is the second measurement information.

Thereafter, the drone may transmit the generated measurement result information to the service and/or the station using a wireless communication means.

23 and 24 show an example of a rider of an unmanned aerial robot according to an embodiment of the present invention.

23 and 24 are diagrams showing examples of each of the lidar sensors, FIG. 23 shows an example of a 2D lidar sensor, and FIG. 24 shows an example of a 3D lidar sensor.

The 2D lidar sensors of FIG. 23 are smaller in size, simpler, and require less cost than the 3D lidar sensors of FIG. 24. However, it is difficult to obtain more detailed and precise information than 3D lidar sensors.

The 3D lidar sensors of FIG. 24 are larger in size, complex, and cost more than the 2D lidar sensors of FIG. 23, but more detailed and precise information can be obtained than the 2D lidar sensors.

In an embodiment of the present invention, when a drone controls its posture/position using a plurality of beams generated from a station, a 2D lidar sensor may be used, and a 3D lidar sensor may be used to position a measurement space. That is, in FIG. 12, a 2D lidar sensor may be used as the sensor 1115, and a 3D lidar sensor may be used as the positioning device 1113.

When a 3D lidar sensor is used, the amount of processing of information increases, so the drone can additionally include additional computing power.

General devices to which the present invention can be applied

25 illustrates a block diagram of a wireless communication device according to an embodiment of the present invention.

Referring to FIG. 25, a wireless communication system includes a base station (or network) 2510 and a terminal 2520.

Here, the terminal may be a UE, a UAV, a drone, or a wireless aerial robot.

The base station 2510 includes a processor (processor, 2511), a memory (memory, 2512), and a communication module (communication module, 2513).

The processor implements the functions, processes and/or methods proposed in FIGS. 1 to 19 above. Layers of the wired/wireless interface protocol may be implemented by the processor 2511. The memory 2512 is connected to the processor 2511 and stores various information for driving the processor 2511. The communication module 2513 is connected to the processor 2511 and transmits and/or receives a wired/wireless signal.

The communication module 2513 may include a radio frequency unit (RF) for transmitting/receiving a radio signal.

The terminal 2520 includes a processor 2521, a memory 2522, and a communication module (or RF unit) 2523. The processor 2521 implements the functions, processes and/or methods proposed in FIGS. 1 to 19 above. Layers of the air interface protocol may be implemented by the processor 2521. The memory 2522 is connected to the processor 2521 and stores various information for driving the processor 2521. The communication module 2523 is connected to the processor 2521 and transmits and/or receives a radio signal.

The memories 2512 and 2522 may be inside or outside the processors 2511 and 2521, and may be connected to the processors 2511 and 2521 by various well-known means.

In addition, the base station 2510 and/or the terminal 2520 may have one antenna or multiple antennas.

26 illustrates a block diagram of a communication device according to an embodiment of the present invention.

In particular, FIG. 26 is a diagram illustrating the terminal of FIG. 25 in more detail above.

Referring to FIG. 26, a terminal includes a processor (or a digital signal processor (DSP) 2610), an RF module (or RF unit) 2635, and a power management module 2605. ), antenna (2640), battery (2655), display (2615), keypad (2620), memory (2630), SIM card (Subscriber Identification Module (SIM) ) card) 2625 (this configuration is optional), a speaker 2645 and a microphone 2650. The terminal may also include a single antenna or multiple antennas. I can.

The processor 2610 implements the functions, processes, and/or methods proposed in FIGS. 1 to 19 above. The layer of the air interface protocol may be implemented by the processor 2610.

The memory 2630 is connected to the processor 2610 and stores information related to the operation of the processor 2610. The memory 2630 may be inside or outside the processor 2610, and may be connected to the processor 2610 by various well-known means.

The user inputs command information such as a phone number, for example, by pressing (or touching) a button on the keypad 2620 or by voice activation using the microphone 2650. The processor 2610 receives the command information and processes to perform an appropriate function, such as dialing a phone number. Operational data may be extracted from the SIM card 2625 or the memory 2630. In addition, the processor 2610 may display command information or driving information on the display 2615 for user recognition and convenience.

The RF module 2635 is connected to the processor 2610 and transmits and/or receives an RF signal. The processor 2610 transmits command information to the RF module 2635 to transmit, for example, a radio signal constituting voice communication data in order to initiate communication. The RF module 2635 is composed of a receiver and a transmitter to receive and transmit radio signals. The antenna 2640 functions to transmit and receive radio signals. When receiving a radio signal, the RF module 2636 may transmit the signal for processing by the processor 2610 and convert the signal to baseband. The processed signal may be converted into audible or readable information output through the speaker 2645.

The embodiments described above are those in which components and features of the present invention are combined in a predetermined form. Each component or feature should be considered optional unless explicitly stated otherwise. Each component or feature may be implemented in a form that is not combined with other components or features. In addition, it is possible to configure an embodiment of the present invention by combining some components and/or features. The order of operations described in the embodiments of the present invention may be changed. Some configurations or features of one embodiment may be included in other embodiments, or may be replaced with corresponding configurations or features of other embodiments. It is obvious that claims that do not have an explicit citation relationship in the claims may be combined to constitute an embodiment or may be included as a new claim by amendment after filing.

The embodiment according to the present invention may be implemented by various means, for example, hardware, firmware, software, or a combination thereof. In the case of implementation by hardware, an embodiment of the present invention provides one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), and FPGAs ( field programmable gate arrays), processors, controllers, microcontrollers, microprocessors, etc.

In the case of implementation by firmware or software, an embodiment of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code can be stored in a memory and driven by a processor. The memory may be located inside or outside the processor, and may exchange data with the processor through various known means.

It is obvious to those skilled in the art that the present invention can be embodied in other specific forms without departing from the essential features of the present invention. Therefore, the above detailed description should not be construed as restrictive in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

2510: base station 2520: terminal
2511: processor 2521: processor
2512: memory 2522: memory
2513: RF unit 2523: RF unit
2514: antenna 2524: antenna

Claims (20)

In the flight system for indoor positioning consisting of an unmanned aerial robot, a station and a server of the unmanned aerial robot,
The unmanned aerial robot,
A plurality of laser beams generated from the station are sensed through a first camera and/or a first sensor, and the horizontal axis position of the unmanned aerial vehicle is based on the detected plurality of laser beams. Adjust to be located at the center position, and position the measurement space while flying in a vertical direction,
The station,
In order to be located at the center position in the measurement space, a laser sensor is used to measure the distance to each wall surface of the measurement space, and based on the measured distance, it moves to the center position, and a horizontal sensor and a horizontal mechanism device are used. By adjusting the level of the station, the unmanned aerial vehicle flying vertically at the center position of the measurement space while generating the plurality of laser beams using a plurality of laser beam generators to locate the measurement space system.
The method of claim 1,
The unmanned aerial robot recognizes the location where the plurality of lasers are generated using the first camera, and detects the plurality of lasers using the first sensor based on the detected location, so that the unmanned aerial robot A flight system that determines whether or not it is located in the central position.
The method of claim 2,
The unmanned aerial vehicle robot is a flight system that recognizes whether the unmanned aerial robot is located at the center of the measurement space by using whether the plurality of laser beams are detected through the camera and/or the sensor.
The method of claim 3,
When at least one of the plurality of laser beams is not detected by the camera or the sensor, the unmanned aerial robot recognizes that the unmanned aerial robot has moved from the center of the measurement space, and the plurality of laser beams A flight system that moves the position to be detected by the camera or the sensor.
The method of claim 1,
The unmanned aerial robot measures a distance between the unmanned aerial robot and the station using the plurality of laser beams, and recognizes whether the unmanned aerial robot is horizontal with the station using the measured distances. Flight system.
The method of claim 5,
When the measured distances are different, the unmanned aerial robot recognizes that it is not horizontal with the station, and a flight system that adjusts the vertical and/or horizontal position of the unmanned aerial robot so that the measured distances become the same .
The method of claim 1,
The unmanned aerial vehicle is a flight system for obtaining an image for positioning the measurement space by photographing the measurement space using a second camera.
The method of claim 7,
The unmanned aerial vehicle generates a plurality of measurement beams through at least one 3D lidar sensor, and detects a reflected beam reflected by the measurement space by the generated measurement beam through the at least one 3D lidar sensor. Obtaining modeling for the measurement space,
A flight system for positioning the measurement space by using the image and the modeling together.
The method of claim 8,
The unmanned aerial vehicle flight system for transmitting the positioning result to the server.
The method of claim 8,
The unmanned aerial vehicle is a flight system for receiving route information related to a flight path for positioning the measurement space from the server.
The method of claim 1,
The station generates at least one laser beam using the laser sensor, and the at least one laser beam senses a reflected beam reflected by each of the wall surfaces of the measurement space to measure the distance to each of the wall surfaces. Flight system.
The method of claim 1,
When the unmanned aerial robot is located within a certain distance, the station uses a wireless charging module to charge the battery of the unmanned aerial robot.
The method of claim 1,
The station is a flight system that moves to the center of the measurement space using a horizontal movement device based on the measured distance.
In the unmanned aerial robot for indoor positioning, the unmanned aerial robot,
main body;
A first camera and a second camera provided in the main body;
A first sensor and a second sensor for detecting a laser beam;
At least one motor;
At least one propeller connected to each of the at least one motor; And
And a processor electrically connected to the at least one motor to control the at least one motor, wherein the processor,
Controlling the first camera and/or the first sensor to detect a plurality of laser beams generated from the station,
Adjusting the horizontal axis position of the unmanned aerial robot to be located at the center position of the measurement space based on the sensed at least one laser beam,
An unmanned aerial robot, characterized in that for positioning the measurement space while flying in a vertical direction by controlling the at least one propeller.
The method of claim 14, wherein the processor,
The unmanned aerial robot is positioned at the center position by recognizing the position where the plurality of lasers are generated using the first camera, and detecting the plurality of lasers using the first sensor based on the detected position. Whether or not an unmanned aerial robot.
The method of claim 15, wherein the processor,
An unmanned aerial robot that recognizes whether the unmanned aerial robot is located at the center of the measurement space based on whether the plurality of laser beams are detected through the first camera or the first sensor.
The method of claim 16, wherein the processor,
When at least one of the plurality of laser beams is not detected by the first camera or the first sensor, the unmanned aerial robot recognizes that the unmanned aerial robot has moved from the center of the measurement space,
An unmanned aerial robot that controls the at least one propeller to change the position so that the plurality of laser beams are detected by the camera or the sensor.
The method of claim 14, wherein the processor,
Each distance between the unmanned aerial vehicle and the station is measured using the plurality of laser beams,
An unmanned aerial robot that recognizes whether the unmanned aerial robot is horizontal with the station using the measured distances.
The method of claim 18, wherein the processor,
When the measured distances are different from each other, the unmanned aerial robot recognizes that it is not horizontal with the station,
An unmanned aerial robot that adjusts the vertical and/or horizontal position of the unmanned aerial robot so that each of the measured distances becomes the same.
The method of claim 15, wherein the processor
Controlling a second camera to capture the measurement space to obtain an image for positioning the measurement space,
Controls at least one 3D lidar sensor to generate a plurality of measurement beams,
By controlling the at least one 3D lidar sensor to detect the reflected beams from which the plurality of generated measurement beams are reflected by the measurement space, and obtain modeling for the measurement space,
An unmanned aerial robot that locates the measurement space by using the image and the modeling together.

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